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Identification method and system for rigidity of joint of six-degree-of-freedom industrial serial robot

A technology of robot joints and industrial robots, which is applied in the field of robots, can solve problems such as difficult operability and low accuracy, and achieve the effect of rigorous theoretical logic and high identification accuracy

Inactive Publication Date: 2020-06-12
TSINGHUA UNIV
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Problems solved by technology

[0003] At present, the commonly used method of identifying the stiffness of robot joints is to analyze the stiffness of the internal structure of the robot joints, such as motors, harmonic reducers and other mechanisms, and convert it into the stiffness of robot joints, but this type of method has great difficulty in operability and accuracy. lower question

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  • Identification method and system for rigidity of joint of six-degree-of-freedom industrial serial robot
  • Identification method and system for rigidity of joint of six-degree-of-freedom industrial serial robot
  • Identification method and system for rigidity of joint of six-degree-of-freedom industrial serial robot

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Embodiment Construction

[0029] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0030] The method and system for identifying the joint stiffness of a six-degree-of-freedom industrial serial robot according to the embodiments of the present invention will be described below with reference to the accompanying drawings.

[0031] It should be noted that the joint stiffness identification method of a six-degree-of-freedom industrial serial robot proposed by the present invention uses equipment: a robot, a robot end effector, a laser tracker, a workpiece, and a dynamometer tooling.

[0032] figure 1 It...

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Abstract

The invention discloses an identification method and system for the rigidity of a joint of a six-degree-of-freedom industrial serial robot. The method comprises the following steps that a DH parametermethod is adopted for establishing a robot kinematics model of the to-be-identified industrial robot so as to acquire a DH parameter of the robot kinematics model; based on the DH parameter, a differential transformation method is used for deducing a Jacobi matrix of the robot, and in combination with the Jacobi matrix of the robot, a robot static rigidity model is established; and based on the robot static rigidity model, a robot joint rigidity identification experiment is designed to obtain multiple sets of experiment data, wherein the experiment data comprises to-be-processed experiment data and additional experiment data. The to-be-processed experiment data is processed through MATLAB programming to obtain a robot joint rigidity matrix. According to the method, the operability of theidentification process is lowered, the identification accuracy is improved, and the foundation is laid for looking for the optimal rigidity pose of the robot and performing deformation compensation, flutter analysis and other research on the robot.

Description

technical field [0001] The invention relates to the field of robot technology, in particular to a method and system for identifying the structural stiffness of a six-degree-of-freedom industrial series robot, which is mainly used in the field of structural analysis of industrial robots. Background technique [0002] At present, industrial robots are widely used in the field of industrial automation production and processing, but for some occasions requiring high-precision applications, the current robots have technical problems such as low absolute positioning accuracy, deformation of the robot end, and chatter during operation. In order to analyze and solve these problems, it is first necessary to analyze the structural stiffness of the robot, and then propose a solution to the problem. [0003] At present, the commonly used method of identifying the stiffness of robot joints is to analyze the stiffness of the internal structure of the robot joints, such as motors, harmonic...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 关立文王立平陈志雄陈璐陈彦羽
Owner TSINGHUA UNIV
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