Maximum cube selection and calculation method for industrial robot performance test
A technology of industrial robots and computing methods, applied in computing, instruments, manipulators, etc., can solve problems that affect the validity of robot performance test results, cumbersome operation process, and long time-consuming
Inactive Publication Date: 2017-10-20
SHANGHAI ELECTRICAL APPLIANCES RES INSTGROUP +1
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Problems solved by technology
The traditional selection method generally adopts the method of robot teaching. This method requires professionals to manually debug the robot. It is necessary to try to move the robot to the limit position, which has potential dangers. At the same time, the operation process is cumbersome and time-consuming, and it is difficult to guarantee The volume of the cube reaches the maximum, affecting the validity of robot performance test results
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[0039] 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.
[0040] A typical six-joint serial industrial robot such as figure 1 As shown, it consists of connecting rod 0, connecting rod 1, connecting rod 2, connecting rod 3, connecting rod 4, and connecting rod 5 in series, figure 1 In , 0 to 5 represent links 0 to 5, respectively. Connecting rod 0 and connecting rod 1 are connected through joint 1, connecting rod 1 and connecting rod 2 are connected through joint 2, connecting rod 2 ...
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The invention provides a maximum cube selection and calculation method for an industrial robot performance test, and belongs to the field of the industrial robot performance test. The method comprises the following steps that: determining the connecting rod geometrical parameter and the movement range of each joint of an industrial robot; on the basis of the connecting rod geometrical parameter and the movement range of each joint, analyzing and calculating the work space of the industrial robot; according to the robot work space of the robot, determining a maximum cube; and calculating the edge length of the maximum cube and the space pose of the maximum cube under a robot base coordinate system. The invention innovatively puts forward a method for determining the maximum cube through the combination of theoretical derivation and mathematical calculation, the operation process of the method does not need to manually teach a robot, so that the method is convenient and simple and has a wide applicable range, the test efficiency and accuracy of the robot performance test can be effectively improved, and therefore, the application of the robot can be wider.
Description
technical field [0001] The invention belongs to the technical field of industrial robot performance testing, in particular to a method for selecting and calculating the largest cube for industrial robot performance testing. 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 method is clearly and detailedly elaborated, in which the selection of the largest cube in the robot workspace is a necessary condition for testing several important performance indicators. [0003] At present, there is no generalized, systematic and practical method for determining the largest cube. The traditional selection method generally adopts the method of robot teaching. This method requires professionals ...
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IPC IPC(8): G06F17/50G06F17/11B25J18/00
CPCB25J18/00G06F17/11G06F30/20
Inventor蔺道深朱晓鹏皇甫亚波郑海峰陈文皓孙雨周海鹏王爱国
OwnerSHANGHAI ELECTRICAL APPLIANCES RES INSTGROUP