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A Gravity Compensation Method for Trimule Horizontal Hybrid Robot

A gravity compensation and robotics technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as the position deviation of the end of the manipulator, achieve the effects of accurate compensation, flexible data collection, and improved accuracy

Active Publication Date: 2022-03-29
TIANJIN UNIV
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Problems solved by technology

[0007] The purpose of the present invention is to overcome the shortcoming of prior art, a kind of gravity compensation method for TriMule horizontal hybrid robot is provided, to solve the problem caused by the gravity of the mechanical arm of TriMule horizontal hybrid robot in the prior art. The problem of deviation of the end position caused by deformation

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  • A Gravity Compensation Method for Trimule Horizontal Hybrid Robot
  • A Gravity Compensation Method for Trimule Horizontal Hybrid Robot
  • A Gravity Compensation Method for Trimule Horizontal Hybrid Robot

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Embodiment Construction

[0026] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

[0027] Since the parallel mechanism of the horizontal layout is greatly affected by its own gravity, it is reflected in the fact that the lead screw in the parallel part is bent and deformed due to the gravity of itself and the end during the elongation and shortening process under the drive of the motor, while the series swing head 5 can As a whole, the end position deviation caused by deformation can be compensated by controlling the driving motor 1 of the parallel part.

[0028] A kind of gravity compensation method for TriMule horizontal hybrid robot of the present invention as shown in the accompanying drawing based on above principle, comprises the following steps:

[0029] Step 1. Install the laser target ball 9 at the end 5 of the two-degree-of-freedom series swing head of the robot, and set the laser tracker 8 directly in front of the TriMule...

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Abstract

The invention discloses a gravity compensation method for a TriMule horizontal hybrid robot. The steps are as follows: establishing a three-dimensional virtual prototype of the TriMule horizontal hybrid robot, and importing finite element analysis software to obtain that the central point of the robot end is deformed due to the influence of gravity. Several points that are relatively obvious; the offsets in the X, Y, and Z directions of the robot coordinate system after the measurement of several points with obvious deformation are affected by gravity as compensation values; the program is written in the robot control system, and the robot Add the compensation value to the continuous trajectory of the end passing through the above points, drive the robot to move along the trajectory, use the laser tracker to track and measure the trajectory of the robot end, compare the compensated trajectory with the theoretical trajectory, find out the poorly compensated point, and again Modify the compensation value until the desired effect is achieved. Adopting the invention makes the compensation more accurate.

Description

technical field [0001] The invention belongs to a gravity compensation method of a robot, in particular to a gravity compensation method of a TriMule horizontal hybrid robot. Background technique [0002] Since the beginning of the new century, the rapid development of aviation, aerospace, wind power, high-speed railway and other industries has led to an increasing demand for large structural / functional parts. Such parts have the characteristics of large dimensions, complex geometric shapes, and high precision requirements, and their manufacture, maintenance, and repair face many challenges. Traditional manufacturing methods (such as large / extra large horizontal or vertical machine tools, etc.) have been difficult to process such parts due to their shortcomings such as harsh installation environment requirements, high energy consumption, and low efficiency. [0003] At present, with the continuous development and innovation of robot technology, single-machine manufacturing ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664
Inventor 洪鹰黄欣肖聚亮王国栋刘海涛黄田
Owner TIANJIN UNIV
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