Multi-joint robot dynamics semi-physical simulation platform
A multi-joint robot and semi-physical simulation technology, applied in the testing of machines/structural components, instruments, measuring devices, etc., can solve problems such as prototype damage, high cost consumption, and difficult debugging, achieving high safety, improving efficiency, space-saving effect
Active Publication Date: 2019-03-12
NORTHEASTERN UNIV
View PDF7 Cites 4 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
At present, most of the test systems in China are often verified by computer simulation technology or physical prototypes. However, there are often uncertainties in computer simulation technology; Difficult and prone to prototype damage
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0019] The purpose of the present invention is to provide a multi-joint robot dynamics semi-physical simulation platform, aiming at the needs of research and development of different robot products, to provide a reliable and easy-to-use robot dynamics semi-physical simulation platform.
[0020] Such as figure 1 As shown, a multi-joint robot dynamics semi-physical simulation platform of the present invention includes: a plurality of joint semi-physical simulation modules 1, a signal acquisition module 2 and a control module 3. The joint semi-physical simulation module 1 is used to simulate and output the speed, position, torque and moment of inertia of the robot joint under different load moments of inertia; the signal acquisition module 2 is used to collect the speed and position of different robot joints during the test process , torque and moment of inertia; the control module 3 is used to control the semi-physical simulation module 1 of multiple groups of joints in real tim...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a multi-joint robot dynamics semi-physical simulation platform. The platform comprises a plurality of groups of joint semi-physical simulation modules, a signal acquisition module and a control module, wherein each joint semi-physical simulation module comprises a robot joint driving motor, a position sensor, a torque sensor, a magnetic powder clutch and a variable inertialoading mechanism which are sequentially connected. The platform can meet the requirements of dynamics tests of joints, at different positions, of robots of different types, and can achieve synchronous performance testing of the joints. The dynamics test range of each simulation module is wider, and the dynamics performance of all the joints of the robot under different working conditions can be effectively simulated and tested. The platform is simple in design structure, easy to implement and high in safety and reliability. The platform has important significance in robot dynamics verification and optimization.
Description
technical field [0001] The invention belongs to the technical field of performance simulation testing of robots, and mainly relates to a semi-physical simulation platform for multi-joint robot dynamics. Background technique [0002] With the acceleration of my country's "2025 intelligent manufacturing", "industrial upgrading" and "going out", the robot field urgently needs to improve product performance, and the performance optimization verification of industrial robot servo system products is particularly important. [0003] Robots cover welding, sorting, assembly, palletizing and other application backgrounds, all of which are important directions for the research and development of intelligent robots in my country. A semi-physical simulation platform for accurately testing the dynamics of multi-joint robots has become an urgent need for research. At present, most of the test systems in China often verify the method through computer simulation technology or physical proto...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G01M99/00
CPCG01M99/005G01M99/008
Inventor 房立金王怀震许继谦
Owner NORTHEASTERN UNIV