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A Calculation Method for Dynamic Deformation of High-Speed ​​Heavy-duty Robot

A dynamic deformation and calculation method technology, applied in the direction of instruments, adaptive control, control/regulation systems, etc., can solve the problems of large vibration amplitude and end track deviation of robots

Active Publication Date: 2020-08-04
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Application Information

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Problems solved by technology

[0004] Aiming at the deficiencies of the prior art, the present invention provides a dynamic deformation calculation method of a high-speed heavy-duty robot, the purpose of which is to solve the problem that the dynamic deformation of the high-speed heavy-duty robot greatly exceeds the static deformation during the working process, which may easily cause excessive vibration amplitude and terminal trajectory Offset and other issues,

Method used

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  • A Calculation Method for Dynamic Deformation of High-Speed ​​Heavy-duty Robot
  • A Calculation Method for Dynamic Deformation of High-Speed ​​Heavy-duty Robot
  • A Calculation Method for Dynamic Deformation of High-Speed ​​Heavy-duty Robot

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Embodiment 1

[0171] The specific process is as follows:

[0172] (1) Robot kinematics modeling steps

[0173] (1.1) such as figure 2 Shown is the establishment of the joint coordinate system of the present invention.

[0174] According to the structure and size of the robot body, the base coordinate system {0} is established at the robot base, the joint coordinate system is established at each joint of the robot, and the D-H parameters at each joint are obtained.

[0175] (1.2) Calculate the transformation matrix of each joint coordinate system of the robot relative to the base coordinate system {0}, and obtain the end pose of the robot.

[0176] (1.3) Angular velocity and angular acceleration recursively:

[0177] The recursion starts from link 1, under the base standard {0}, 0 ω 0 , 0 v 0 versus Both are 0, as the initial value of the recursion.

[0178] Suppose the reference system is {A}, and the angular velocity of the coordinate system {B} relative to the reference frame {A} is A ω B , The an...

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Abstract

The invention relates to a dynamic deformation calculation method for a high-speed heavy-load robot. The method comprises the following steps that according to design features of a robot body, a basecoordinate system is established at the position of a robot base, robot joint coordinate systems are established at joints of the robot, and D-H parameters at the joints are acquired; a kinematics equation of a tail end device is calculated, the tail end position and posture of the robot is acquired, recurrence on angular velocity and angular acceleration are sequentially conducted, recurrence onvelocity and acceleration are sequentially conducted, and the motion state of each connecting rod in the base coordinate system is calculated; and the inertia force and the inertia moment of each connecting rod are solved, a finite element model of the robot is established, and the total dynamic deformation, stress and strain of the robot are solved. According to the method, a kinetic model of therobot is applied to the finite element model, the deformation situation caused by dead weight, loads and all the inertia force and the inertia moments of the robot is analyzed, various influence factors of the deformation of a tail end point are researched, and a basis is provided for modeling design and parameter optimization of the robot.

Description

Technical field [0001] The invention relates to the field of high-speed heavy-duty robots, in particular to a dynamic deformation calculation method for high-speed heavy-duty robots. Background technique [0002] High-speed heavy-duty robots are defined as industrial robots with a terminal load of more than 100kg and a maximum linear speed of 1m / s or more at the end. They are widely used in automobile spraying, welding, logistics handling, stacking and heavy manufacturing. Industries such as automated production. High-speed heavy-duty robots have the characteristics of high-speed heavy-duty, high rigidity, high stability, and large volume and weight due to the needs of the operating environment and tasks. In addition to the static deformation caused by the end load and the robot's own weight, the inertial force and moment of inertia during the operation of the robot will also cause the deformation of the robot, which will cause the end trajectory offset, robot vibration, damage ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 宋屹峰姜勇王洪光景凤仁孔繁旭朱俊鹏秦基伟
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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