Robot external active gravity compensation system and simulation verification method

Abstract

The invention discloses a robot external active gravity compensation system and a simulation verification method, including a gravity compensation device and a gravity compensation rope. It is connected with the force application end of the series robot, and the force application end of the series robot is connected with the end load at the same time. Realize the use of small load robots to complete large load tasks. According to the structure of the robot and the gravity compensation device, the kinematics model is established based on the screw theory, and the dynamic model of the closed-chain mechanism with passive joints is established by using the Newton-Euler method. The linear trajectory of the simulation experiment was designed, and the passive joint friction and constant moment gravity compensation were simulated in the dynamics simulation environment Coppeliasim. Effect of gravity compensation torque on robot joint torque.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot external active gravity compensation system and a simulation verification method. Background technique [0002] The manufacturing industry and the construction industry often need to control large-mass components to complete stacking or assembly operations, such as wall-laying operations in residential buildings, stacking and assembly of large-mass parts and other large-load mobile operations. Most of the repetitive operations can be replaced by six-degree-of-freedom robots artificial. Using a 6DOF robot can improve repeatability, precision and speed compared to manual operations. However, there are some defects in the existing robots. For example, the load-to-weight ratio of traditional six-axis industrial robots is generally less than 0.15. Large-load operations require the use of expensive heavy-load robots, and because of their heavy weight, they cannot be moved, so t...

AI Technical Summary

Problems solved by technology

In the counterweight balancing method commonly used in palletizing robots, the gravitational potential energy is exchanged between the structure of the manipulator and the counterweight, which improves the energy utilization efficiency of the system and reduces the joint torque demand, but this method increases the mass and inertia of the robot , reducing joint responsiveness

Juan Carlos Cambera uses a spring gravity compensation device to reduce the load on some joint axes of the robot, but this method has a poor compensation effect on the end joints and is not suitable for gravity compensation of large mass loads at the end of a six-axis robot

The external active gravity compensation device designed by Yang Zhang et al. achieves gravity compensation by adding additional auxiliary actuators, but due to the cooperative control problem, it can only realize the gravity compensation of the plane motion of the end load

[0005] System control with active gravity compensation needs to use dynamics simulation for effect verification, but the existing robot rigid body dynamics simulation lacks simulation support for passive joints and rope transmission, and cannot be applied to the control effect simulation verification of active gravity compensation system

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