Nonlinear dynamic modeling analysis method for rotary joint type industrial robot

Abstract

The invention discloses a nonlinear dynamic modeling analysis method for a rotary joint type industrial robot. The method comprises the following steps of converting a three-dimensional solid model ofthe rotary joint type industrial robot into a system dynamics model composed of body elements and hinge elements; selecting a corner value of each joint of the industrial robot as a generalized coordinate of the system, and determining an integral variable x(ti) and an initial condition x(t0) thereof; calculating a transfer matrix and a transfer equation of an industrial robot body element and ahinge element; calculating a total transfer matrix according to the element transfer matrix and the topological structure of the robot system, solving a total transfer equation in combination with boundary conditions, and obtaining unknown state variables in boundary point state vectors; according to the acceleration and the angular acceleration of each connection point in the kinetic model, kinematics analysis is carried out on the kinetic model to obtain a second derivative of a generalized coordinate; and in combination with a numerical integration method, obtaining an integral variable x(t<i+1>) at the time t<i+1>, ending when the expected calculation time is reached, otherwise, returning to re-determine the initial condition and carrying out analysis and calculation again.

Description

technical field [0001] The invention belongs to the technical field of dynamic modeling of industrial robots, and in particular relates to a nonlinear dynamic modeling analysis method of a rotary joint type industrial robot. Background technique [0002] The wide application of industrial robots in automated production fields such as machining, automobile manufacturing, and aerospace manufacturing has put forward higher requirements for core performance such as motion control accuracy and dynamic characteristics. The traditional kinematics-based control and design research can no longer meet the application requirements. It is necessary to start from the dynamics level. Through the dynamics research on the robot processing system, the dynamic response during the robot's motion process can be obtained as a high-precision control and optimization design of the robot. The basics. The dynamics research of the robot is very important to improve the motion accuracy and dynamic ch...

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Problems solved by technology

The problem existing in the prior art is that the existing dynamic modeling method needs to establish the overall dynamic equation of the system when calculating the dynamic response of the industrial robot. Although the actual dynamic characteristics of the industrial robot can be described more accurately, the system matrix As the degree of freedom increases, the order continues to increase, resulting in a decrease in calculation speed, which makes it difficult to meet the real-time calculation and control requirements during robot motion.

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