Dynamics modeling method of four-axis mechanical arm

A dynamic modeling, robotic arm technology, applied in special data processing applications, instruments, electrical digital data processing, etc., can solve problems such as inability to achieve results

Active Publication Date: 2019-12-03
武汉弗雷德斯科技发展有限公司
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

Although this method is superior to the independent joint position loop control method, it still cannot achieve satisfactory results due to the simplification of the model.

Method used

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  • Dynamics modeling method of four-axis mechanical arm
  • Dynamics modeling method of four-axis mechanical arm
  • Dynamics modeling method of four-axis mechanical arm

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Embodiment Construction

[0079] The present invention provides a dynamic modeling method of a four-axis mechanical arm. In order to make the purpose, technical solution and effect of the present invention clearer and clearer, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0080] see figure 1 , a dynamic modeling method of a four-axis mechanical arm provided by the invention, comprising the steps of:

[0081] S100. Establish a natural coordinate system according to the structure of the four-axis mechanical arm;

[0082] S200, define the vector parameters of each axis of the mechanical arm in the natural coordinate system, and convert it into a coordinate form;

[0083] S300, substituting the coordinates of each vector parameter into the Kane equation to obtain the inertial t...

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Abstract

The invention discloses a dynamics modeling method of a four-axis mechanical arm. The dynamics modeling method includes: firstly, establishing a natural coordinate system according to the structure ofthe four-axis mechanical arm; defining vector parameters of each axis of the mechanical arm in a natural coordinate system; converting the data into a coordinate form; substituting the coordinate ofeach vector parameter into a Kaien equation to respectively obtain an inertia term equation, a centrifugal term equation and a gravity term equation of each axis, and simplifying the equations; addingthe simplified equations of each axis to obtain a dynamics simplified equation of each axis; establishing the four-axis mechanical arm model according to the kinetic equation of the first axis, the kinetic equation of the second axis and the kinetic equation of the third axis. According to the modeling algorithm adopted by the invention, the particularity of the structure and the working form andposition of the mechanical arm is utilized, so that a large amount of repetitive calculation contents in a traditional method are omitted, the calculation speed is greatly increased, and conditions are provided for high-frequency and accurate dynamic control.

Description

technical field [0001] The invention relates to the field of mechanical arm modeling, in particular to a dynamic modeling method of a four-axis mechanical arm. Background technique [0002] The mechanical arm is a new type of device developed in the process of mechanization and automation. In the modern production process, robotic arms are widely used in automatic production lines. Although the mechanical arm is not as flexible as the human hand, it has the characteristics of continuous repetitive work and labor, no fatigue, no fear of danger, and the strength of grabbing heavy objects is greater than that of the human hand. Therefore, the mechanical arm has been valued by many departments and is becoming more and more popular been applied more and more widely. [0003] The robotic arm is a complex system with multiple inputs and multiple outputs, highly nonlinear, and strong coupling. Its control difficulty increases sharply with the increase of the number of motion axes...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
Inventor 彭文佳张弢
Owner 武汉弗雷德斯科技发展有限公司
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