A Method for Evaluation of Robot End Stiffness Performance

Abstract

The invention relates to a method for evaluating the rigidity performance of a robot end, belonging to the technical field of robots. Based on Hooke's law, construct the robot end operation stiffness matrix, use the laser displacement sensor to obtain the real virtual displacement, and the force sensor to obtain the six-dimensional force information, and obtain the compensation stiffness matrix of the robot under external force loading, and the end operation stiffness of the robot based on the virtual displacement principle The matrix, the robot joint stiffness matrix is ​​obtained through the mapping relationship with the joint space; the length of the intersection of the stiffness ellipsoid and the force vector established by the terminal manipulation stiffness matrix under any posture of the robot is used as the evaluation index of the robot terminal stiffness performance. The advantage is that it is easy to operate, fast in measurement speed, reduces the influence of the stiffness of the connecting rod of the robot, the virtual displacement error of the measuring device, and the error of the stiffness measurement of the robot under external force loading, and can accurately evaluate the stiffness performance of the robot end.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a method for evaluating the stiffness performance of a robot end. Background technique [0002] Robots have been more and more widely used in machining. Compared with CNC machine tools, they have the advantages of large working space, low equipment cost and high degree of integration. However, the rigidity and repeatability of the robot are very low, which makes the actual mechanical Both machining accuracy and machined surface quality are limited. In particular, the change of the robot's attitude will also lead to the change of the operation stiffness of the robot's end, which leads to the heavy dependence of the robot's attitude on the machining accuracy and the quality of the machined surface when machining large workpieces. In order to optimize the robot posture in real time at different positions in the processing space to obtain the best robot end stiffness performance, it ...

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Problems solved by technology

[0004] The invention provides a method for evaluating the stiffness performance of a robot end to solve the problems that the current evaluation method is complicated, not intuitive enough, unable to reflect the stiffness performance of the robot end in time, the cost of joint stiffness testing is expensive, and the testing process is cumbersome and time-consuming.

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