Dynamic model design method based on double mechanical arm cooperative grinding system

Abstract

The invention discloses a dynamic model design method based on a double mechanical arm cooperative grinding system. The dynamic model design method based on the double mechanical arm cooperative grinding system comprises the following steps that 1, a double mechanical arm Jacobian matrix based on a grinding machining track is constructed, physical parameters of a grinding tool and a clamped workpiece are combined based on the double mechanical arm Jacobian matrix in a kinematic level, and joints of double mechanical arms are combined with the grinding track to construct the Jacobian matrix from the grinding track speed to each mechanical arm joint speed; 2, grinding force simplified mechanical models of the grinding tool and the workpiece are constructed; and 3, a coupling kinetic model ofthe double mechanical arm cooperative grinding system is constructed, the cooperative grinding system is divided into a machining mechanical arm system and a clamping mechanical arm system, and a kinetic model of a coupled machining mechanical arm system and a coupling a kinetic model of a coupling clamping mechanical arm system are correspondingly constructed.

Description

technical field [0001] The invention relates to a method for designing a dynamic model of a manipulator, in particular to a method for designing a dynamic model based on a dual-manipulator cooperative grinding system. Background technique [0002] In the field of industrial processing, robotic arms are increasingly used in production lines to replace manpower and improve processing efficiency and precision. However, with the complexity and diversification of processing procedures, traditional single-arm or human-machine collaborative processing systems are difficult to meet the requirements of high precision, high efficiency, high adaptability, and high stability, especially in special limited or harmful environments. There is a greater demand for trajectory optimization algorithms for multi-manipulator arms. Therefore, multi-manipulator cooperative processing has increasingly become the trend of current industrial applications. Among them, dual-manipulator cooperation, as ...

AI Technical Summary

Problems solved by technology

In the process of collaborative grinding of workpieces, most of the traditional dual-manipulator grinding is "coordination", that is, manual teaching of dual-manipulators is performed separately, and at the level of kinematics, there is no force interaction between the two manipulators, only the position Although this method can complete part of the processing tasks, the manual teaching in the early stage needs to waste a lot of time. Moreover, the dynamic knowledge such as the joint motor torque between the two robotic arms has not been fully considered. If there is a position constraint collision problem, it is easy to cause damage to the joints of the robotic arm

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