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Industrial robot complete machine rigidity optimization method based on finite element technology

A technology of industrial robots and optimization methods, applied in design optimization/simulation, geometric CAD, CAD numerical modeling, etc., can solve problems such as low robot positioning accuracy, and achieve the effect of improving analysis efficiency, reducing development costs, and shortening development cycles

Active Publication Date: 2020-07-24
EFORT INTELLIGENT EQUIP CO LTD
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Problems solved by technology

The present invention solves the problem of low positioning accuracy of the robot during high-speed operation

Method used

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  • Industrial robot complete machine rigidity optimization method based on finite element technology
  • Industrial robot complete machine rigidity optimization method based on finite element technology
  • Industrial robot complete machine rigidity optimization method based on finite element technology

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Embodiment Construction

[0024] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further elaborated below.

[0025] Such as Figure 1 to Figure 4 As shown, an industrial robot machine stiffness optimization method based on finite element technology, the specific steps are as follows:

[0026] S1: Finite element modeling of the initial model: establish the finite element model of the whole robot, and calculate the comprehensive stiffness K of the whole machine w and three-way stiffness K x 、K y 、K z ;

[0027] S2: Sub-structure division: Divide the robot into i sub-structures according to the rods and joints. Arm 7, wrist body 8;

[0028] S3: Adjust the stiffness parameters of the substructure: adjust the stiffness parameters of each substructure in the finite element model, load the three-direction component force at the end of the robot: Fx=200N, Fy=-500N and Fz=-200N, and calculate the...

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Abstract

The invention relates to the field of robot rigidity optimization design, in particular to an industrial robot complete machine rigidity optimization method based on a finite element technology, whichcomprises the following specific steps: s1, carrying out finite element modeling on an initial model; s2, carrying out substructure division; s3, adjusting sub-structure rigidity parameters; s4, calculating the rigidity variation of the complete machine; s5, judging whether the design is reasonable or not; s6, optimizing the structure. A finite element means is utilized to establish a complete machine model to analyze the design rationality of the complete machine rigidity and the part rigidity, the analysis efficiency is greatly improved, and the robot design and development period is shortened; the design problem and defects are exposed in advance through the finite element technology and the normalization method, the fatality problem occurring in the prototype stage is avoided, the development cost is reduced, the method can be designed and developed with any industrial robot, and the lightweight design of the whole robot can be guaranteed while the rigidity level of the whole robot is improved.

Description

technical field [0001] The invention relates to the field of robot stiffness optimization design, in particular to a method for optimizing the stiffness of an industrial robot machine based on finite element technology. Background technique [0002] The static stiffness of the robot structure is one of the important performance standards of the robot, which is clearly specified and introduced in the national standard GBT 12642. At present, most of the industrial robot designs in China are reverse imitation, lack of consideration of the rigidity of the robot in the design process, usually designers will be relatively conservative in the design process in order to avoid risks, which will inevitably lead to the overweight of the robot machine, and the parts The stiffness of the components is over-designed and the stiffness matching between components is not good. [0003] For example, in the Chinese patent application number 201811074857.2, the dynamic performance optimization...

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Application Information

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IPC IPC(8): G06F30/23G06F30/17G06F111/10
Inventor 黄文冯海生贺军杰王俊奇储华龙李晓光党进
Owner EFORT INTELLIGENT EQUIP CO LTD
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