A six-axis industrial robot j2 joint and j3 joint stiffness measurement method

Abstract

The invention relates to a method for measuring the stiffness of J2 joints and J3 joints of a six-axis industrial robot, comprising the following steps: calculating the end load of the robot under test; adjusting the robot to a designated posture; shielding the joint under test of the robot while maintaining the robot In the servo-on state; install the robot load to meet the torque required to test the stiffness of the joints, and fix the dial indicator on the robot; Fit with the end of the hexagon socket head screw; start the robot and apply different torques to the tested joint, and record the dial indicator value; draw a hysteresis curve according to the recorded dial indicator value and the torque applied to the tested joint to calculate joint stiffness and hysteresis loss. The joint stiffness of the industrial robot can be quantitatively obtained without disassembling the machine, the test process is convenient, and the requirements for experimental testers are low. At the same time, the measurement equipment is simple, the cost is low, and the test efficiency is high.

Description

technical field [0001] The invention relates to the field of robot performance testing, in particular to a method for measuring the stiffness of J2 joints and J3 joints of a six-axis industrial robot. Background technique [0002] Robot stiffness describes the ability of a robot to resist deformation under external forces. Therefore, to study the stiffness of the robot, it is necessary to first study the deformation phenomenon of the robot and which parts cause the larger deformation. [0003] At present, due to the high demand for absolute accuracy of the end trajectory of high-precision robots, for most industrial robots, the deformation of robot joints is one of the important factors that reduce the accuracy of the end trajectory, and joint deformation is particularly important in the deformation of the robot as a whole. Among them, joint stiffness is an index of joint deformation calculation. In order to solve the above problems, it is necessary to quantify the output o...

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Problems solved by technology

[0004] At present, the commonly used methods to obtain the stiffness of robot joints are identification algorithms and partial joint stiffness testing methods, mainly by analyzing the stiffness inside the robot joints, such as motors, reducers, etc., and converting them into robot joint stiffness, but the calculation process of such algorithms is relatively cumbersome. , The operation is difficult and the accuracy is low. Based on this, it is urgent to output a test method for the joint stiffness of industrial robots, while ensuring that the data is true and reliable and has strong applicability.

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