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Experimental method for simulating dynamic variable load and variable inertia of industrial robot joints
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A technology of an industrial robot and an experimental method is applied in the experimental field of simulating the dynamic variable load and inertia of a single joint of an industrial robot. , to achieve the effect of simulating joint load changes, easy control and easy adjustment
Active Publication Date: 2022-02-15
ZHEJIANG UNIV OF TECH
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[0005] The purpose of the present invention is to solve the defects that the dynamic change of the inertia of the existing load simulation device is difficult to realize or the structure is complex, the load change is not real-time or the control is difficult, and the functions of variable inertia and variable load cannot be provided at the same time, and the joints of industrial robots cannot be simulated well. Load inertia working condition, an experimental method for simulating the dynamic variable load and variable inertia of industrial robot joints is proposed, which can synthesize the dynamic change of inertia, meet various complex loads, and briefly simulate joint motion conditions
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[0043] The present invention will be further described below in conjunction with accompanying drawing:
[0044] Such as Figure 1-11 As shown, an experimental method for simulating the dynamic load variable inertia of a single joint of an industrial robot adopts an experimental device for simulating a single joint dynamic load variable inertia of an industrial robot, and the experimental device for simulating a single joint dynamic load variable inertia of an industrial robot includes Control system, first motor control circuit, second motor control circuit, first frame 25, second frame 26, first input servo motor 1, first reducer 2, first coupling 3, dynamic torque sensor 4. Gear transmission box 9, second coupling 22, angle sensor 11, first double bearing housing 12, variable inertia lever arm 14, third coupling 10, rotating shaft 17, second input servo motor 5, second Reducer 6, fourth coupling 8, mass slider 13, swing arm 16, second double bearing seat 19, rotating shaft ...
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Abstract
The invention discloses an experimental method for simulating the dynamic variable load and variable inertia of the joints of an industrial robot. The experimental device for simulating the dynamic variable load and variable inertia of a single joint of an industrial robot includes a control system, a first motor control circuit, a second motor control circuit, a first Frame, second frame, first input servo motor, first reducer, first coupling, dynamic torque sensor, gear transmission box, second coupling, angle sensor, first double bearing housing, variable inertia Lever arm, third coupling, rotating shaft, second input servo motor, second reducer, fourth coupling, mass slider, swing arm, second double bearing housing, rotating shaft, first support base, second For the second support base, the third support base, the fourth support base and the fifth support base, the present invention integrates time-varying inertia and time-varying load, and can simply simulate various complex working conditions of joints.
Description
technical field [0001] The invention relates to the field of joint servo control system testing, to the field of experimental methods for variable load and variable inertia, and more specifically, to an experimental method for simulating the dynamic variable load and variable inertia of a single joint of an industrial robot. Background technique [0002] At present, the experiment of servo motor control algorithm directly on the joints of industrial robots needs to overcome many technical difficulties, the experiment is difficult, and the data acquisition is difficult, so the research is mostly limited to the software simulation stage. In order to effectively conduct experiments to evaluate the control effect of the control algorithm, an experimental method for simulating joint load inertia conditions is designed, and data collection can be carried out reasonably and efficiently, so that experimental research can be carried out. [0003] Existing load simulation devices gene...
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