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A method for optimizing the dynamic performance of a six-axis industrial robot based on a finite element

An industrial robot and optimization method technology, applied in design optimization/simulation, instrumentation, special data processing applications, etc., can solve problems such as low robot positioning accuracy, resonance, and low-order modal frequency of the whole machine, so as to avoid blindness , Reduce the risk of resonance, improve the effect of low-order modal frequency

Active Publication Date: 2019-01-22
HARBIN INST OF TECH
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of low positioning accuracy of the robot during high-speed operation and the resonance caused by the low low-order modal frequency of the whole machine, and propose a dynamic performance optimization method for six-axis industrial robots based on ANSYS

Method used

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  • A method for optimizing the dynamic performance of a six-axis industrial robot based on a finite element
  • A method for optimizing the dynamic performance of a six-axis industrial robot based on a finite element
  • A method for optimizing the dynamic performance of a six-axis industrial robot based on a finite element

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specific Embodiment approach 1

[0028] Embodiment 1: The method for optimizing the dynamic performance of a six-axis industrial robot based on finite elements includes the following steps:

[0029] In order to facilitate the subsequent comparison and evaluation of the optimization performance of the industrial robot body, the rigid dynamic model and the rigid-flexible coupling dynamic model of the six-axis industrial robot were respectively established.

[0030] Step 1: Perform modal analysis on each part of the six-axis industrial robot to determine the low-order modal frequency and stiffness distribution of each part; the parts of the six-axis industrial robot include forearm, wrist, arm, base, Elbow seat and waist seat; the dynamic performance is the amplitude of the manipulator during high-speed operation;

[0031] Step 2: According to the stiffness distribution of each part determined in step 1, optimize the part with the smallest stiffness of each part;

[0032] Combined with the design experience of ...

specific Embodiment approach 2

[0058] Embodiment 2: This embodiment differs from Embodiment 1 in that: In the first step, modal analysis of each part of the six-axis industrial robot is performed using ANSYS software.

[0059] Other steps and parameters are the same as those in Embodiment 1.

specific Embodiment approach 3

[0060] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is: after step two in step three optimizes each part, the specific process of establishing the finite element model of the six-axis industrial robot machine is as follows:

[0061] In SolidWorks, assemble the parts of the six-axis industrial robot according to the different configurations of joint 2 (big arm swing joint) and joint 3 (small arm swing joint), and generate the x_t intermediate file; The connection constraints of the parts of the six-axis industrial robot are equivalent to mass blocks; the parts of each six-axis industrial robot are meshed to generate the finite element model of the whole machine;

[0062] The rigid body includes a motor, a reducer and a driver.

[0063] Other steps and parameters are the same as those in Embodiment 1 or Embodiment 2.

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Abstract

The invention relates to a method for optimizing the dynamic performance of a six-axis industrial robot based on a finite element. The invention aims at solving the problem of low positioning accuracyof a robot in a high-speed running process. The method comprises the following steps: 1. Determining low-order modal frequency and stiffness distribution of each part; 2, optimizing the position where the rigidity of each part is the smallest; 3. establishing the finite element model of the six-axis industrial robot; 4, determining the first six mode frequencies of the six-axis industrial robot with three kinds of joint angle configurations, 5, carrying out rigid-flexible coupling dynamic model of a six-axis industrial robot; 6, obtaining the maximum stress node of each part of the six-axis industrial robot in the operation process, the time when the maximum stress occur, the stress distribution diagram and the terminal elastic deviation; 7, comparing with the design requirements of six-axis industrial robot, if it meets the design requirements, being over, otherwise, re-executing steps I to VI. The invention is used in the field of industrial robots.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a method for optimizing the dynamic performance of a six-axis industrial robot. Background technique [0002] The increasing maturity of electromechanical technology has provided a strong impetus for the development of industrial robot technology and related industries. However, the increasingly accelerated pace of production and the continuous improvement of product protection levels have put forward higher requirements for the work efficiency and work quality of industrial robots. . How to make industrial robots maintain excellent performance such as stable motion and high positioning accuracy under high-speed working conditions is a topic facing the industrial robot industry today. Mechanical design has developed from the stage of static strength design and checking of rigid body to a new level of analysis and optimization of dynamic characteristics of flexible body. [0003...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F30/23G06F30/17
Inventor 李瑞峰王珂仝勋伟葛连正邓鑫
Owner HARBIN INST OF TECH
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