A flexible multi-body robot modeling and solving method based on multi-dimensional reconstruction and correction

A flexible multi-body and robot technology, applied in CAD numerical modeling, instruments, manipulators, etc., can solve the problems of breach of contract failure and low solution efficiency

Active Publication Date: 2019-03-29
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of this invention is to provide a solution based on the problem of low solution efficiency and breach of contract failure in the process of numerical integration of the dynamic model of flexible multi-body robot under complete constraints Modeling and solution method for flexible multi-body robot with multi-dimensional reconstruction correction

Method used

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  • A flexible multi-body robot modeling and solving method based on multi-dimensional reconstruction and correction
  • A flexible multi-body robot modeling and solving method based on multi-dimensional reconstruction and correction
  • A flexible multi-body robot modeling and solving method based on multi-dimensional reconstruction and correction

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Embodiment 1

[0105] Such as figure 1 Shown is a three-degree-of-freedom 3-RRRU flexible multi-body robot, which consists of a static platform, a dynamic platform, and three branch chains with symmetrical structures; among them, the three branch chains are set in parallel, and the two ends of each branch chain are respectively Connect with static platform and dynamic platform. Since its structure includes flexible components, it is necessary to use the multi-dimensional reconstruction and correction based flexible multi-body robot modeling and solving method disclosed in the present invention to describe the system characteristics of the robot.

[0106] To this end, the specific steps of the modeling and solving method are as follows:

[0107] S1. Construct the mathematical model of each component of the flexible multi-body robot and set parameters:

[0108] The 3-RRRU flexible multi-body robot includes 1 static platform, 1 dynamic platform, 6 rigid rods and 3 flexible rods, among which, ...

Embodiment 2

[0164] A modeling and solving method for flexible multi-body robots based on multi-dimensional reconstruction correction, which is also aimed at such as figure 1 The characteristics of the three-DOF 3-RRRU flexible multibody robot shown are described.

[0165] The difference from Embodiment 1 is that in step S4 of this embodiment, according to the known state parameters of the flexible multi-body robot at time t, the inverse dynamics solution method is adopted, and the multi-dimensional reconstruction correction method is used to correct the complete constraints The mechanical equations of the 3-RRRU flexible multi-body robot are solved iteratively to obtain the state parameters of the flexible multi-body robot at time t.

[0166] Such as Figure 15 As shown, the specific steps of the inverse dynamics solution method are:

[0167] S401. According to the known state parameters of the end effector at time t, set the iteration initial values ​​of the Lagrangian multiplier vecto...

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Abstract

The invention discloses a flexible multi-body robot modeling and solving method based on multi-dimensional reconstruction correction, This method is successively performed by: A mathematical model ofrigid component and a flexible component are respectively constructed and parameters are set, the holonomic constraint conditions of a flexible multi-body robot system are established, the static anddynamic equations of flexible multi-body robot system with holonomic constraints are obtained, According to the known state parameters of t-time, the state parameters of t + h-time are obtained by iterative solution of dynamic equations under complete constraints using multi-dimensional reconstruction and correction method, and the state parameters of t + h-time are obtained by repeated iterativeprocess until the end of the algorithm. The forward and inverse dynamic models of flexible multi-body robot with holonomic constraints are established by the modeling and solving method, and the dynamic equations are solved iteratively by using the multi-dimensional reconstruction and correction algorithm. The modeling is complete and the solving scale is small. Compared with the traditional solving method, the convergence condition is easier to be satisfied, and the efficiency of calculation and solution is improved.

Description

technical field [0001] The invention relates to the field of multi-body dynamics solution and calculation of a robot, in particular to a modeling and solution method for a flexible multi-body robot based on multi-dimensional reconstruction and correction. Background technique [0002] With the continuous improvement of industry's requirements for production efficiency and energy consumption reduction, industrial robots are constantly developing towards light weight and miniaturization. Therefore, in addition to rigid rods, rigid plates, rigid platforms, and rigid joints, the structure of the robot also introduces components such as flexible beams, plates, shells, ropes, and joints. The robot connects various components through kinematic joints. According to different connection methods, it can be divided into series, parallel and hybrid mechanisms. The parallel mechanism and the hybrid mechanism contain complex closed-chain loops. Since the coupling relationship between the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50G06F17/11G06F17/16B25J9/16B25J19/00
CPCG06F17/11G06F17/16B25J9/1605B25J19/007G06F2111/10G06F2119/06G06F30/20
Inventor 刘凉史晨阳赵新华刘童李培鑫
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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