Heavy load stacking robot frequency response characteristic analyzing method and system

A technology of palletizing robots and frequency response characteristics, which is applied in the field of robotics and can solve problems such as the absence of dynamic characteristic analysis of robots
CN110549340AInactive Publication Date: 2019-12-10LIAOCHENG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
LIAOCHENG UNIV
Publication Date
2019-12-10
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention provides a heavy load stacking robot frequency response characteristic analyzing method and system. For a high-speed heavy load stacking robot, kinematics analysis is performed, a forward kinematics solution and work space is obtained, a Jacobian matrix is obtained, and the relationship between a joint space and a Cartesian space is built; static stiffness analysis is performed on the stacking robot; a rigid-flexible coupling dynamical model is built through a Lagrange second-type equation, the joint flexibility of the high-speed heavy load stacking robot is described, and a vibration mode of the robot is analyzed; and the influence law of different joint stiffnesses on the system frequency response is obtained, and according to the influence law, movement of the high-speed heavy load stacking robot is controlled. The heavy load stacking robot frequency response characteristic analyzing method and system lay a foundation for building of the kinematics and dynamical model,subsequent trajectory planning and design of a control system.
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Description

technical field

[0001] The present disclosure relates to the field of robot technology, in particular to a method and system for analyzing frequency response characteristics of a heavy-duty palletizing robot. Background technique

[0002] With the wide application of high-speed heavy-duty palletizing robots in industries such as automobiles, metallurgy and logistics, automated production lines have put forward higher requirements for the handling speed, load capacity, acceleration and positioning accuracy of robots. The high-speed heavy-duty palletizing robot not only reduces the positioning accuracy of the palletizing robot due to the influence of rods and joint flexibility, but also limits the improvement of the robot's speed. In view of the high-speed, high-acceleration and large-load working characteristics of the high-speed and heavy-duty palletizing robot, it is not enough to complete the structural analysis on the kinematics level. It is necessary to carry out dynamic...

Claims

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