Limited space constraint based dynamic co-simulation method of injection manipulator

A limited space, co-simulation technology, applied in the direction of constraint-based CAD, design optimization/simulation, special data processing applications, etc., to achieve the effects of motion time optimization, rapid convergence, and stable calculation

Active Publication Date: 2017-05-31
GUIZHOU UNIV
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Co-simulation methods based on structural dynamics and control system kinematics have not been documented for the trajectory planning problem of manipulators under limited space constraints.

Method used

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  • Limited space constraint based dynamic co-simulation method of injection manipulator
  • Limited space constraint based dynamic co-simulation method of injection manipulator
  • Limited space constraint based dynamic co-simulation method of injection manipulator

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Embodiment 1

[0058] Embodiment 1: A co-simulation method for dynamics of an injection molding manipulator with limited space constraints, the method includes the following steps:

[0059] (1) Modeling the multi-degree-of-freedom injection molding manipulator: firstly, simplify the model of the manipulator, use UG 3D software to build a 3D model of the manipulator, drive its size change through expressions, store the model size in the database, and modify and add it arbitrarily Data or design variables, the model is automatically updated synchronously, and the expression drives the modeling of the long arm of the manipulator. The schematic diagram of the movement trajectory of the manipulator in the limited space under the limited space constraints, such as figure 1 As shown in the figure, A, B: injection molding machine; C: mechanical arm; D: conveyor belt;

[0060] Table 1 Expressions driving mechanical long arm modeling

[0061] parameter name Calculation formula Calculate...

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Abstract

The invention discloses a limited space constraint based dynamic co-simulation method of an injection manipulator. A structural model and a D-H model of the manipulator are established by structural expression driving function and a link function respectively, trajectory planning inverse motion solution is performed on the manipulator according to the initial position and the termination position of the manipulator, an initial trajectory curve and angle change curves of all joints are obtained, and all operations of a UG interface are compiled into a separate M function to be embedded in a dynamic simulation model of an MATLAB / Simulink module for fitting of a trajectory curve. The ideal trajectory which is continuous, smooth in joint and shorter in end motion time and meets actual demands under the condition of limited space constraint is obtained, a manipulator trajectory optimization method under the constraint of limited space is sought by combining co-simulation of structural dynamics and control system kinematics, and smooth driving of optimized trajectory joints is realized.

Description

technical field [0001] The invention relates to a dynamics collaborative simulation method of an injection molding manipulator with limited space constraints, and belongs to the technical field of robot path optimization. Background technique [0002] For the multi-degree-of-freedom injection molding robot arm system to perform efficient two-point repetitive motion under limited space constraints, the system can complete the work of grasping and transporting a given load between two points in the shortest time under the condition of satisfying the performance of the robot arm, improving production efficiency. Trajectory planning becomes a key issue in system control. [0003] Literature (Yu Tianyu, Li Da, Song Baoyu. Research on Trajectory Planning and Simulation of Industrial Robots Based on MATLAB-Robotics Toolbox [J]. Mechanical Engineer, 2011(7): 81-83) established the robot model by using the D-H parameter method. Call the MATLAB Robotics toolbox function to carry out ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F30/17G06F30/20G06F2111/04G06F2111/06
Inventor 罗宁康梅益曹贵崟王莉媛
Owner GUIZHOU UNIV
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