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Dynamic performance optimization method of six-axis industrial robot based on finite element

An industrial robot and optimization method technology, applied in design optimization/simulation, geometric CAD, special data processing applications, etc., can solve the problems of low low-order modal frequency, resonance, and low robot positioning accuracy of the whole machine, and achieve low First-order modal frequency, reducing the risk of resonance, and avoiding the effect of blindness

Active Publication Date: 2022-04-22
HARBIN INST OF TECH
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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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  • Dynamic performance optimization method of six-axis industrial robot based on finite element
  • Dynamic performance optimization method of six-axis industrial robot based on finite element
  • Dynamic performance optimization method of six-axis industrial robot based on finite element

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specific Embodiment approach 1

[0028] Specific embodiment one: based on a finite element six-axis industrial robot dynamic performance optimization method comprising the following steps:

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

[0030] Step 1: Modal analysis of 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 a small arm, wrist, large arm, base, elbow seat and waist seat; dynamic performance is the amplitude of the robot arm in the process of high-speed operation;

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

[0032] Combined with the experience of mechanical part...

specific Embodiment approach 2

[0058] Embodiment II: The present embodiment is different from the specific embodiment is: the modal analysis of each part of the six-axis industrial robot in step one using ANSYS software.

[0059] Other steps and parameters are the same as the specific embodiment.

specific Embodiment approach 3

[0060] Specific embodiment three: The present embodiment and the specific embodiment of one or two is different is: the step three in the step two of each part is optimized, the specific process of establishing a six-axis industrial robot machine finite element model is:

[0061] Assemble the parts of the six-axis industrial robot according to the different configurations of joint 2 (large arm swing joint) and joint 3 (small arm swing joint) in SolidWorks and generate x_t intermediate files; in Workbench, each rigid body is equivalent to the mass block according to the connection constraint with the part of the six-axis industrial robot; and the parts of each six-axis industrial robot are meshed to generate a finite element model of the whole machine;

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

[0063] Other steps and parameters are the same as the specific embodiment one or two.

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Abstract

A method for optimizing the dynamic performance of a six-axis industrial robot based on finite elements, the invention relates to a method for optimizing the dynamic performance of a six-axis industrial robot. The invention aims to solve the problem of low positioning accuracy of the robot during high-speed operation. The present invention includes: 1: determine the low-order modal frequency and stiffness distribution of each part; 2: optimize the part with the smallest stiffness of each part; 3: establish the finite element model of the six-axis industrial robot machine; 4: determine The first six modal frequencies of the six-axis industrial robot in three joint angle configurations; five: conduct rigid-flexible coupling dynamic modeling of the six-axis industrial robot; six: obtain the maximum value of each part of the six-axis industrial robot during the operation Stress node, the moment when the maximum stress occurs, the stress distribution diagram, and the elastic offset of the end; Seven: Compared with the design requirements of the six-axis industrial robot, if it meets the design requirements, it ends, otherwise, re-execute steps 1 to 6. The invention is used in the field of industrial robots.

Description

Technical field [0001] The present invention relates to the field of industrial robots, specifically to a six-axis industrial robot dynamic performance optimization method. Background [0002] The increasing maturity of mechanical and electrical technology provides a strong impetus for the development of industrial robot technology and related industries, but the increasing pace of production and the continuous improvement of product protection level put forward higher requirements for the work efficiency and work quality of industrial robots. How to make industrial robots in high-speed working conditions, still able to maintain smooth movement, high positioning accuracy and excellent performance, is the problem facing the industrial robot industry today. Mechanical design has evolved from the static strength design and verification stage of rigid bodies to a new level of dynamic characteristic analysis and optimization of flexible bodies. [0003] At present, the methods of dyn...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F30/23G06F30/17
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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