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Cutting machining robot body parameter description method based on sensitivity analysis

A sensitivity analysis and robot body technology, which is applied in the field of parameter description of cutting robot body based on sensitivity analysis, can solve problems such as large amount of parameters and complex structure, and achieve the effect of ensuring accuracy, improving work efficiency, and improving measurement and description efficiency.

Active Publication Date: 2020-04-07
QILU UNIV OF TECH
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] Aiming at the problems of various types of cutting robots, complex structures, and large amount of parameters, the present invention provides a method for describing the body parameters of cutting robots based on sensitivity analysis, so as to formulate parameter descriptions by analyzing the sensitivity of each structural parameter to the dynamic characteristics of the robot. Accuracy criteria and specifications, and form a standardized description file of robot body parameters

Method used

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  • Cutting machining robot body parameter description method based on sensitivity analysis

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Embodiment 1

[0030] combined with figure 1 , this embodiment proposes a method for describing the parameters of the cutting robot body based on sensitivity analysis, including:

[0031] Analyze the sensitivity of the dynamic characteristics of the robot based on the structural parameters of the robot, and formulate the accuracy criteria and specifications for parameter description;

[0032] The standardized file format is used as the carrier, and the analysis results are generated into a specification file that can fully describe the parameters of the robot body.

[0033] In this embodiment, the structural parameters of the robot involved include functional components, joint connection methods, and structural components. Among them,

[0034] Functional components include drive unit, connecting rod unit, reducer unit,

[0035] Joint connection methods include integrated connection, coupling connection,

[0036] Structural composition includes series connection, parallel connection and co...

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Abstract

The invention discloses a cutting machining robot body parameter description method based on sensitivity analysis, relates to the technical field of robot machining, and solves problems of various types, complex structure, large parameter quantity and the like of cutting machining robots. The method is characterized in that sensitivity of dynamic characteristics of the robot is analyzed accordingto structural parameters of the robot, precise criteria and specifications of parameter description are formulated, and structural parameters of the robot include functional assemblies, joint connection modes and structural composition; sensitivity analysis is conducted on three kinds of parameters of the robot according to the precise criterion and specification of formulated parameter description, and description files are generated respectively; an XML file format is adopted as a carrier, and an open source xml file generator integrates the generated three types of description files to generate description files of robot body parameters. The method has the advantages that the type difference and affiliation relationship among the structural parameters can be reflected, and parameter measurement and description efficiency of different types of robots can be improved.

Description

technical field [0001] The invention relates to a cutting robot, in particular to a method for describing parameters of a cutting robot body based on sensitivity analysis. Background technique [0002] The progress and application of industrial robot technology is an important means and key link to promote the development of intelligent manufacturing in my country. Industrial robots have high flexibility, low cost, large working space, and flexible position and posture control. When they are applied to cutting processing, they can adapt to the modern production mode requirements of multi-variety, small batch, and on-site processing, significantly reduce production costs, and improve equipment and processing space. The utilization rate can effectively improve the speed of technological innovation and the competitiveness of enterprises. However, industrial robots have problems such as low repeat positioning accuracy, poor stiffness, and cumbersome error analysis and control, ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1653B25J9/163
Inventor 周婷婷
Owner QILU UNIV OF TECH