Workpiece fatigue testing method based on cooperation robot

Abstract

The invention provides a workpiece fatigue testing method based on a cooperative robot. The workpiece fatigue testing method comprises the steps that a fatigue testing platform is built; a first workpiece is fixed on an end effector of the cooperative robot, and the gravity and the inertia matrix of the end effector and the first workpiece are calculated; the mass and inertia matrix of the end effector and the first workpiece are compensated to a robot controller; the first workpiece is clamped by using the cooperation robot, and an axis of the first workpiece and a hole of a second workpiececan be aligned through dragging a teaching mode; the running track of the cooperative robot is acquired during testing; a control mode of the cooperative robot is adjusted to be a force position mixing control, an expected pose of the next moment is calculated according to the obtained running track, and the expected moment is further calculated; the first workpiece is clamped by the cooperative robot to perform a repeated fatigue test experiment, and the stress moment of each joint in real time is acquired through a real-time communication interface. According to the workpiece fatigue testingmethod based on the cooperation robot, active flexibility is realized from a control angle, complicated special machine structure design is avoided, and universality is achieved.

Description

technical field [0001] The invention relates to the technical field of industrial robots, in particular to a workpiece fatigue testing method based on collaborative robots. Background technique [0002] In the field of automobile manufacturing and assembly, after a large number of parts are processed and assembled, their fatigue strength needs to be tested. Such as car headrest adjustment test, seat adjustment test and so on. This kind of test needs to ensure that the force of the workpiece is within a reasonable range. At present, most of the tests are carried out by special planes. The special plane adds a movement to the test workpiece and detects the force of the workpiece at the same time. Multiple reciprocating movements are used to test its fatigue. The purpose is to imitate the process of manual adjustment. [0003] The human hand is flexible, but the special machine is often rigid. The problem caused by the excessive rigidity of the special machine is: due to the ...

AI Technical Summary

Problems solved by technology

[0003] The human hand is flexible, but the special machine is often rigid. The problem caused by the excessive rigidity of the special machine is: due to the consistency of the workpiece and the processing accuracy, the resistance to the workpiece is different when it moves, but the trajectory of the special machine is different. It is the same, it will cause the workpiece to be stuck when the error is large, resulting in test failure or even damage to the workpiece or tool

The other kind of flexibility is called active flexibility. From the perspective of control, the stiffness of the device is actively adjusted according to changes in the external environment, which is more complicated to implement.

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