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Rigid-flexible coupling model modeling simulation method for six-degree-of-freedom industrial robot

An industrial robot and rigid-flexible coupling technology, applied in design optimization/simulation, instrumentation, special data processing applications, etc., can solve problems such as industrial robots that are not suitable for light weight, and achieve the effect of saving simulation time and improving analysis efficiency

Pending Publication Date: 2021-02-02
JIANGSU UNIV
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Problems solved by technology

The traditional rigid body model describes only a theoretical model, which is suitable for large stiffness mechanisms and is not suitable for lightweight industrial robot modeling

Method used

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  • Rigid-flexible coupling model modeling simulation method for six-degree-of-freedom industrial robot
  • Rigid-flexible coupling model modeling simulation method for six-degree-of-freedom industrial robot
  • Rigid-flexible coupling model modeling simulation method for six-degree-of-freedom industrial robot

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Embodiment Construction

[0025] In order to make the above objects, features and advantages of the present invention more comprehensible, specific implementations of the present invention will be described in detail below in conjunction with the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described here, and those skilled in the art can make similar improvements without departing from the connotation of the present invention, so the present invention is not limited by the specific implementations disclosed below.

[0026] see figure 1 According to an embodiment of the present invention, a rigid-flexible coupling model modeling and simulation method for a six-degree-of-freedom industrial robot specifically includes:

[0027] Step 1: Use SolidWorks software to build a 3D model of an industrial ro...

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Abstract

The invention provides a six-degree-of-freedom industrial robot rigid-flexible coupling model modeling simulation method. The method comprises the steps: establishing an industrial robot rigid body model; importing the rigid body model into ADAMS, and setting unit attributes and material attributes; according to a kinematics model modeling method, performing trajectory planning on the robot in thejoint space based on an MATLAB robot toolbox, and outputting a joint driving function; adding kinematic pair constraints and joint driving functions into the ADAMS, and carrying out the kinematic simulation; importing the key component into ABAQUS, distributing component material attributes, creating analysis steps and constraint conditions, and establishing a modal neutral file after the key component is softened as a flexible body component; replacing corresponding parts in the rigid body model with the flexible body parts to generate a rigid-flexible coupling model of the industrial robot,and carrying out dynamic simulation on the rigid-flexible coupling model. The method is convenient for comprehensive research of change rules of kinematics and kinetic parameters of the tail end of the robot, simulation time is saved, and efficiency is improved.

Description

technical field [0001] The invention relates to the field of multi-body dynamics simulation analysis, in particular to a modeling and simulation method for a rigid-flexible coupling model of a six-degree-of-freedom industrial robot. Background technique [0002] As the key direction of the development of high-end equipment manufacturing industry, industrial robots are developing in the direction of lightweight, flexible, miniaturized and high-speed. However, when an industrial robot with flexible parts moves at high speed, there will be a large-scale mutual coupling of rigid motion and elastic deformation. Its system dynamics will be more complex than traditional multi-rigid body system dynamics, with strong nonlinearity, strong coupling, and time-varying characteristics. Therefore, it is of great value to study the simulation analysis of industrial robots considering the rigid-flexible coupling effect. Its application scenarios involve: multi-body systems composed of mult...

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Application Information

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IPC IPC(8): G06F30/17G06F30/23G06F119/14
CPCG06F30/17G06F30/23G06F2119/14
Inventor 顾寄南李书伟
Owner JIANGSU UNIV
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