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Detection method of dynamic property of robot and system and device

A technology of dynamic characteristics, measurement methods, applied in the field of robotics

Active Publication Date: 2018-12-28
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The present invention proposes a new robot performance evaluation index based on the results of excitation experiments, and then performs dynamic performance measurement and evaluation that cannot be realized by existing robot indexes

Method used

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  • Detection method of dynamic property of robot and system and device
  • Detection method of dynamic property of robot and system and device
  • Detection method of dynamic property of robot and system and device

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0107] refer to figure 1 It is a schematic flow chart of a method for measuring the dynamic characteristics of a robot in an embodiment of the present invention, and the method for measuring the dynamic characteristics of a robot includes:

[0108] Step 1. Define a region to be measured in the robot working space, arrange and number the measurement points in the region.

[0109] refer to figure 2 A schematic diagram of an implementation case of a robot dynamic characteristic measurement device provided in an embodiment of the present invention, a flat rectangular area 220 is selected in the work space of the robot 210 as the measurement area, and the measurement area is a certain plane where the robot works. In the rectangular measurement area, 25 measurement points are evenly distributed in the form of 5×5, the measurement points are numbered, and the position information of the measurement points is recorded.

[0110] Step 2. Move the robot to each measuring point to carr...

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Abstract

The invention belongs to the technical field of robots, and discloses a detection method of dynamic property of a robot and a system and device. The detection method of the dynamic property of the robot comprises the steps that an area to be detected is designated in a working space of the robot, detection points are arranged in the area and numbered; the robot is moved to the detection points forvibration experiment, an excitation and response signal data are collected; a frequency response function of the tail end of the robot is obtained through the excitation and response signal data; anda dynamic property detection index is extracted from the frequency response function of the tail end of the robot, and an index curve chart is drawn. The detection method of the robot dynamic property is simple in application steps and easy to operate, and can rapidly detect the dynamic property of the robot. The detection method can rapidly and accurately assess the dynamic property of the robot, has low requirements for experimental equipment, and can provide references for model selection, trajectory optimization and technology parameter optimization of the robot.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a method, system and device for measuring dynamic characteristics of a robot. Background technique [0002] With the development of technology, compared with traditional CNC machine tools, industrial robots have been more and more widely used in the machining and manufacturing industry due to their advantages of low cost, high efficiency, good flexibility and large working area. However, due to the poor rigidity of the robot, forced vibration or even flutter will occur when it is subjected to dynamic loads during processing, which will greatly reduce the processing quality, shorten the life of the robot and even damage the robot structure. Therefore, for the application of the robot under dynamic load, there is a need for a rapid measurement index and method for the dynamic characteristics of the robot. [0003] At present, researchers have proposed robot-related perf...

Claims

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Application Information

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IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 李育文熊雄秦浩杰
Owner SHANGHAI UNIV