Robot joint vibration analyzing and inhibiting method based on flexible dynamical model

A technology of robot joints and dynamic models, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems that cannot meet the requirements of robot control accuracy, and achieve the effect of simple analysis methods and avoiding instability

Inactive Publication Date: 2018-10-12
SOUTH CHINA UNIV OF TECH
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AI Technical Summary

Problems solved by technology

Nowadays, the strict and single control method can no longer meet the industrial requirements for the control accuracy of robots, and in-depth research is being carried out in the direction of joint control and flexible control.

Method used

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  • Robot joint vibration analyzing and inhibiting method based on flexible dynamical model
  • Robot joint vibration analyzing and inhibiting method based on flexible dynamical model
  • Robot joint vibration analyzing and inhibiting method based on flexible dynamical model

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Experimental program
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Effect test

Embodiment

[0057] Analysis such as figure 1 The flexible factors in the servo system of the robot are shown. These flexible factors exist in the mechanical transmission parts of the joints, including transmission shafts, couplings, reducers, etc., which have certain elasticity, which makes the mechanical system itself vibrate.

[0058] A robot joint vibration analysis and suppression method based on a flexible body dynamics model, including steps:

[0059] (1) set up the flexible body dynamics model of robot joint, analyze the reason that it produces vibration from the mathematical expression of described flexible body dynamics model;

[0060] (2) Use ABAQUS finite element software to obtain the vibration mode information of the joint, and obtain the measuring point arrangement of the hammer excitation experiment method based on the vibration mode information of ABAQUS, and obtain the modal information of the robot joint through the experiment, and the modal information includes resonanc...

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Abstract

The invention discloses a robot joint vibration analyzing and inhibiting method based on a flexible dynamical model. The method comprises the following steps: (1) establishing the flexible dynamical model of a robot joint and analyzing the reason that the robot joint vibrates; (2) acquiring vibrating model information of the joint by means of ABAQUS finite element software, acquiring monitoring point arrangement of a force hammer excitation experimental method based on the vibrating model information of ABAQUS, acquiring modal information of the robot joint and further analyzing the control influence of resonant frequency on the robot; (3) adopting a double T-shaped trapped wave filter with an adjustable trapped wave depth and a width parameter; (4) solving the optimum trapped wave depth of the double T-shaped trapped wave filter by simulation; and (5) setting proper parameters on an alternating current servo system of the robot joint, and starting the rapped wave function of the double T-shaped trapped wave filter so as to inhibit the vibration of the robot joint. The invention provides the robot joint vibration analyzing and inhibiting method based on the flexible dynamical modelfor solving the problem of mechanical resonance often caused by a flexible transmission link in a transmission system of an industrial robot.

Description

technical field [0001] The invention relates to the field of robot joint vibration control, in particular to a robot joint vibration analysis and suppression method based on a flexible body dynamics model, which is applied to the joint vibration analysis and suppression of high-speed load industrial robots with significant flexibility characteristics. Background technique [0002] When the joints of the vertical six-degree-of-freedom industrial robot are driven by the RV reducer and the synchronous transmission belt system with greater flexibility, the flexibility effect of the joints and connecting rods increases, causing the structure to deform and resonate, resulting in a reduction in the expected accuracy of the task. . Especially in recent years, in the 3C electronics industry that requires higher assembly precision, robots are widely used in the process of high-speed sorting parts. The inertial force of the arm makes the elastic deformation of the joint more obvious, a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1628B25J9/163
Inventor 张铁张爱民覃彬彬
Owner SOUTH CHINA UNIV OF TECH
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