High-speed parallel robot driving system parameter optimization and selection method

Abstract

The invention proposes a high-speed parallel robot driving system parameter optimization and selection method, which belongs to the field of robot technology and application. According to the method,an inverse kinematic model and an inverse dynamic model of a high-speed parallel robot are firstly determined, and the time which is taken by the robot to carry out a standard movement is adopted as an index for measuring the rapidity of the robot; the value range of the index and the value range of robot driving system equivalent inertia are set, and a parameterized performance atlas is drawn; the relation between robot rapidity and different motor powers, instantaneous maximum torques, rated torques, motor inertias and speed reducer reduction ratios is visually reflected by the performance atlas, and by comparing performance levels capable of being reached by the robot in cooperation with different servomotor and speed reducer combinations, an optimal servomotor and speed reducer combination is obtained. According to the invention, trial and error and repetitive verification are not needed, computational load is reduced, the efficiency of optimization is improved, the optimization and selection of motor and speed reducer parameters are guided by the actual performance of a robot, and the dynamic performance of the robot system can be effectively improved.

Description

technical field [0001] The invention belongs to the field of robot technology and application, and in particular relates to a parameter optimization and type selection method of a high-speed parallel robot drive system. Background technique [0002] High-speed parallel robots are currently widely used in various pick-and-place and sorting production lines in the plastics industry, electronic product industry, pharmaceutical industry, and food industry. The high-speed parallel robot system includes: control system, drive system and mechanical body. The drive system includes a servo motor and a reducer. The mechanical body is connected to the end effector by multiple kinematic branch chains. The end effector has three degrees of freedom of movement and one degree of freedom of rotation. When working, the control system sends the command of the robot to execute the motion to the drive system, and then the drive system generates motion and force to drive each branch chain of th...

AI Technical Summary

Problems solved by technology

There is no way to visually display the performance level of the robot with different servo motor reducers

[0005] At present, there is no method to efficiently select the combination of servo motor and reducer that optimizes the performance of parallel robots

And for the optimal selection of servo motors and reducers for high-speed parallel robots, most of the selection indicators and methods are mostly based on the empirical indicators and methods of serial robots, and are not guided by the actual performance of parallel robots.

Therefore, the traditional method cannot effectively reduce the driving torque required for the high-speed parallel robot to accelerate, but instead increases the motion cycle and power consumption of the high-speed parallel robot for pick-and-place sorting operations.

This kind of traditional method is also easy to cause overestimation of servo motor power, rated torque, inertia and reducer reduction ratio, resulting in unnecessary waste

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