Experimental method for simulating variable load and variable inertia of industrial robot joints

Abstract

The invention discloses an experimental method for simulating the variable load and inertia of the joints of industrial robots. The experimental device for simulating the variable load and inertia of the joints of industrial robots is adopted. The experimental device for simulating the joints of industrial robots with variable load and inertia includes a control system, a motor drive Control circuit, dynamometer controller, working table, input servo motor, planetary gear reducer, first coupling, dynamic torque sensor, second coupling, angle sensor, double bearing housing, variable inertia lever arm, second Three couplings, a rotating shaft, a mass slider, a positioning bolt, a hysteresis dynamometer, a first support base, a second support base and a third support base, the present invention integrates the static change of inertia, and can change both the inertia and the change Load, the load control system can meet various complex load conditions, and can briefly simulate joint motion conditions.

Description

technical field [0001] The invention relates to the field of joint servo control system testing, to the field of experimental methods for variable load and variable inertia, and more specifically, to an experimental method for simulating variable load and variable inertia of joints of industrial robots. Background technique [0002] At present, it is necessary to overcome many technical difficulties to directly carry out the experiment of servo motor control algorithm on the joints of industrial robots, so the relevant research is mostly limited to the stage of software simulation. In order to effectively conduct experiments and evaluate control algorithms to simulate working conditions, changes in load and inertia need to be considered in the design, so a set of load simulation solutions that can simulate the joint motion of industrial robots is especially needed. [0003] Existing load simulation methods generally use mechanical loads, electro-hydraulic servo loads, electr...

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Problems solved by technology

[0005] In order to avoid various defects of the existing load simulation experiment method, for example, the mechanical load cannot simulate the continuous load spectrum, and the load cannot be changed or adjusted during operation; the electro-hydraulic servo loading has a large amount of hydraulic source, large noise, and redundant torque; The click armature current and power loss of the motor loading are large, and the "forward and reverse torque" cannot be provided; electromagnetic loading requires an accurate mathematical model for simulating the load; the coaxiality is difficult to guarantee when the inertial disc is installed

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