A method, system, and device for measuring dynamic characteristics of a robot
A technology of dynamic characteristics and measurement methods, applied in the field of robotics, to achieve the effect of wide application range, simple implementation steps and easy operation
Active Publication Date: 2021-07-13
SHANGHAI UNIV
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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
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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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The invention belongs to the technical field of robots, and discloses a method, system and device for measuring the dynamic characteristics of a robot. A region to be measured is defined in the working space of the robot, and measurement points are arranged in the region and numbered; the robot is moved to each Vibration experiments are carried out at the measurement points, and the excitation and response signal data are collected; the frequency response function of the robot end is obtained through the excitation and response signal data; the dynamic characteristic measurement index is extracted from the frequency response function of the robot end, and the index curve is drawn. The implementation steps of the invention are simple, easy to operate, and can quickly measure the dynamic characteristics of the robot; the measurement method of the invention can quickly and accurately evaluate the dynamic performance of the robot, has low requirements for experimental equipment, and can be used for robot type selection, trajectory optimization, and process parameter optimization. etc. for reference.
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...
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IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 李育文熊雄秦浩杰
Owner SHANGHAI UNIV