Industrial robot kinematics performance testing device

A robot kinematics and testing device technology, applied in measurement devices, linear/angular velocity measurement, instruments, etc., can solve the problem of not finding a test platform, and achieve the effect of good evaluation and good application prospects

Inactive Publication Date: 2016-08-17
CHONGQING INST OF GREEN & INTELLIGENT TECH CHINESE ACADEMY OF SCI
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, no related test platform has been found so far. The relevant parameters of each robot arm are detected through sensors, and the sub

Method used

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  • Industrial robot kinematics performance testing device
  • Industrial robot kinematics performance testing device

Examples

Experimental program
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Embodiment

[0030] In this implementation example, the MP6050 sensor is first used. The sensor uses three 16-bit ADCs for the gyroscope and the accelerometer respectively, and converts the measured analog quantity into an outputtable digital quantity. In order to accurately track fast and slow motion, the measurement range of the sensor is user controllable, the gyroscope can measure the range of ±250, ±500, ±1000, ±2000° / second (dps), and the accelerometer can measure the range For ±2, ±4, ±8, ±16g.

[0031] The system adopts STM32F103RC 32-bit ARM single-chip microcomputer, communicates with MP6050 through 20MHz SPI interface, and uses interrupt mode to read registers and set command parameters by MPU6050. The single-chip microcomputer filters the obtained sensor data through software programming, and then calculates and obtains the values ​​of velocity, acceleration, angular velocity and angular acceleration according to the velocity acceleration formula and the angular velocity angula...

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Abstract

The invention relates to an industrial robot kinematics performance testing device which comprises a clamping fixture, wireless detection acquisition modules, a wireless router, a computer and a background analysis system running on the computer. The clamping fixture is used for fixing the wireless detection acquisition modules on mechanism arms; the wireless detection acquisition modules are used for acquiring movement data of the mechanism arms of a robot; the wireless router is used for realizing networking of the wireless detection acquisition modules to establish communication among the modules; the computer and the background analysis system running on the computer are used for analyzing acquired movement performance data and displaying performance data and dynamic curve to complete data store and research of data files and output test evaluation reports. By the arrangement, a movement performance platform is established by adopting effective velocity and acceleration detection technology and a data analysis processing method to have finished-product tested and analyzed, dynamic performance of the industrial robot can be well estimated, and good application prospect is achieved.

Description

technical field [0001] The invention belongs to the technical field of industrial robot performance testing, and relates to a kinematic performance testing device of an industrial robot. Background technique [0002] Industrial robots are constantly developing towards high speed and high precision. The main performance indicators for measuring industrial robots include pose repeatability and trajectory accuracy. The kinematic performance evaluation indicators of industrial robots mainly include the linear velocity indicators, angular velocity indicators, linear acceleration indicators, and angular acceleration indicators of each mechanical arm. These indicators have an important impact on the dynamic performance, pose accuracy and trajectory accuracy of industrial robots. [0003] There are related literatures discussing the use of Jacobian matrix and Hessian matrix to theoretically calculate the linear / angular velocity and linear / angular acceleration according to the arm ...

Claims

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Application Information

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IPC IPC(8): B25J19/00G01P3/00G01P15/00
CPCB25J19/00G01P3/00G01P15/00
Inventor 徐泽宇王晓东石明全冯少江
Owner CHONGQING INST OF GREEN & INTELLIGENT TECH CHINESE ACADEMY OF SCI
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