A method for optimizing the posture of an industrial robot
A technology of industrial robots and optimization methods, which is applied in the directions of manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as huge workload, low efficiency, and large number of hole-making operations, and achieve rapid optimization and improvement of processing performance. Effect
Active Publication Date: 2021-11-30
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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[0004] (1) The positioning of the robot's motion trajectory is optimized for the attitude optimization of the optimal operating performance index, and the application test is mainly carried out for a small number of discretely distributed points. However, in actual production, such as the manufacturing process of aerospace parts, among them Any part has a large number of hole-making requirements. If the operation posture corresponding to each target processing position is optimized one by one in the processing task, the workload of optimization processing will be very large and the efficiency will be low.
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[0074] now combined with Figure 1-5 The present invention is described in further detail.
[0075] It should be noted that terms such as "upper", "lower", "left", "right", "front", and "rear" quoted in the invention are only for clarity of description, not for Limiting the practicable scope of the present invention, and the change or adjustment of the relative relationship shall also be regarded as the practicable scope of the present invention without substantive changes in the technical content.
[0076] Such as image 3 As shown, in one of the embodiments of the present invention, a method for optimizing the working posture of an industrial robot comprises the following steps:
[0077] Step 1: Carry out the robot joint stiffness identification test in the given effective working space of the robot, and use the conversion formula K=J -T K θ J -1 Establish the stiffness model of the robot's Cartesian space, where K represents the stiffness of the Cartesian space, J repr...
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A method for optimizing the working posture of an industrial robot disclosed by the present invention includes the following steps: establishing a stiffness model of the Cartesian space of the industrial robot; evaluating the directional stiffness of the joints of the industrial robot according to the type of the working task; determining the characteristic points of the working task of the robot according to the type of the working task position, through the redundant degrees of freedom in the tool axis of the industrial robot operating system, the attitude optimization of the feature points is completed with the optimal orientation stiffness performance as the optimization goal; the optimal stiffness attitude of all the feature points is obtained, and the rest of the goals are completed through smoothing Attitude optimization of point position or trajectory interpolation position. The present invention realizes the selection of the optimal posture of rigidity for the whole operation task, realizes the rapid optimization of the robot operation posture and the improvement of the processing performance of the complex operation task, and satisfies the technical requirements of the robot in the field of high-precision manufacturing and processing such as hole making and milling. .
Description
technical field [0001] The invention belongs to the technical field of posture optimization of industrial robots, and in particular relates to a method for optimizing the posture of an industrial robot. Background technique [0002] Affected by the inherent characteristics of its series structure, industrial robots have low operating rigidity and positioning accuracy, which seriously restricts their popularization and application in the manufacture of high value-added products. Among them, the factors affecting the rigidity performance of the robot mainly include the following three aspects: 1) the structural design of the robot body and the properties of the materials used; 2) the stiffness of the driving mechanism and the transmission mechanism; 3) the working attitude of the robot. Robot attitude optimization technology has the advantages of high feasibility, good task adaptability, and no need to change the robot structure and control system. It has extremely high applic...
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IPC IPC(8): B25J9/16B25J11/00
CPCB25J9/1605B25J9/1664B25J11/0055
Inventor 田威焦嘉琛廖文和李波张霖胡俊山李宇飞蒲玉潇王品章崔光裕
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS