Workspace Determination Method for Industrial Robot Performance Test
An industrial robot and workspace technology, applied in manipulators, manufacturing tools, complex mathematical operations, etc., can solve the problems of cumbersome operation process, long time consumption, difficulty in ensuring the accuracy of the workspace, etc., to achieve a wide range of applications, improve efficiency and accuracy. Degree, wide range of effects
Active Publication Date: 2020-10-09
SHANGHAI ELECTRICAL APPLIANCES RES INSTGROUP +1
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Problems solved by technology
[0003] At present, there is no generalized, systematic and practical method for determining the robot workspace
The traditional method generally adopts the method of robot teaching, which requires professionals to manually debug the robot, and it is necessary to try to move the robot to the limit position, which is potentially dangerous; at the same time, the operation process is cumbersome and time-consuming, and it is difficult to ensure that The accuracy of the workspace affects the validity of robot performance test results
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[0033] Below in conjunction with specific embodiment, further illustrate the present invention. It should be understood that these examples are only used to illustrate the present invention and are not intended to limit the scope of the present invention. In addition, it should be understood that after reading the teachings of the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of the present application.
[0034] A typical six-joint serial industrial robot such as figure 1 As shown, it consists of connecting rod zero 0, connecting rod one 1, connecting rod two 2, connecting rod three 3, connecting rod four 4, and connecting rod five 5 in series. figure 1 Among them, 0 to 5 represent connecting rod zero to connecting rod five respectively. Connecting rod zero and connecting rod one are connected through joint one, connecting rod...
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The invention provides a work space determining method for an industrial robot performance test and belongs to the field of industrial robot performance tests. The work space determining method comprises the following steps that a coordinate system is fixedly connected to each connecting rod of a six-connecting-rod robot, and connecting rod geometrical parameters and motion ranges of all joints of the robot are determined; a motion space section drawing of the tail end of a fourth robot connecting rod is obtained; and through the set distance of offset of the motion space section drawing of the tail end of the fourth connecting rod along a robot-based coordinate system axis, a robot work space section drawing is obtained, and thus the work space of the robot is determined. According to the work space determining method, the method that the work space of the robot is determined by combining theoretical derivation with mathematical calculation is provided innovatively, the robot does not need to be taught manually during operation of the method, simple and convenient effects are achieved, the application range is wide, efficiency and the accuracy degree of the robot performance test are improved effectively, and thus application of the robot is wider.
Description
technical field [0001] The invention belongs to the technical field of industrial robots, and in particular relates to a method for determining a working space of an industrial robot performance test. Background technique [0002] Industrial robots are representatives of high-end intelligent equipment, and are known as "the jewel at the top of the crown of the manufacturing industry". According to relevant national regulations, industrial robots need to be tested in terms of performance before leaving the factory or after long-term use. The test method is clearly and detailedly explained, among which, the determination of the robot workspace is a necessary condition for testing multiple important performance indicators. [0003] At present, there is no generalized, systematic and practical method for determining the robot workspace. The traditional method generally adopts the method of robot teaching, which requires professionals to manually debug the robot, and it is nece...
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IPC IPC(8): B25J19/00G06F17/11
CPCB25J19/0095G06F17/11
Inventor 朱晓鹏皇甫亚波蔺道深郑海峰郑凯宇沈文婷何宇聪王爱国
Owner SHANGHAI ELECTRICAL APPLIANCES RES INSTGROUP