Robot external active gravity compensation system and simulation verification method

A technology of gravity compensation and simulation verification, applied in the field of robotics, can solve the problems of reducing joint response ability, not applicable to gravity compensation of large mass loads, and unable to simulate and verify the control effect of active gravity compensation system
CN112276945AActive Publication Date: 2021-01-29GUANGDONG TOPSTAR TECH +1
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Patent Information

Authority / Receiving Office
CN ยท China
Patent Type
Applications(China)
Current Assignee / Owner
GUANGDONG TOPSTAR TECH
Publication Date
2021-01-29

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Abstract

The invention discloses a robot external active gravity compensation system and a simulation verification method. The robot external active gravity compensation system comprises a gravity compensationdevice and a gravity compensation rope, the force application end of the gravity compensation device is connected with one end of the gravity compensation rope, the other end of the gravity compensation rope is connected with the force application end of a series robot, and the force application end of the series robot is connected with a tail end load at the same time. the small-load robot completes a large-load task. According to the structure of a robot and a gravity compensation device, a kinematics model is established based on a spinor theory, and a closed chain mechanism kinetic modelwith a passive joint is established by using a Newton-Euler's method. A linear moving track of a simulation experiment is designed, passive joint friction force and constant-torque gravity compensation are simulated in a dynamics simulation environment Coppeliasim, a small-load robot is used for completing the linear carrying action of large-mass parts in simulation, and the influence of differentgravity compensation torques on robot joint torque is researched.
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Description

technical field

[0001] The invention relates to the technical field of robots, in particular to a robot external active gravity compensation system and a simulation verification method. Background technique

[0002] The manufacturing industry and the construction industry often need to control large-mass components to complete stacking or assembly operations, such as wall-laying operations in residential buildings, stacking and assembly of large-mass parts and other large-load mobile operations. Most of the repetitive operations can be replaced by six-degree-of-freedom robots artificial. Using a 6DOF robot can improve repeatability, precision and speed compared to manual operations. However, there are some defects in the existing robots. For example, the load-to-weight ratio of traditional six-axis industrial robots is generally less than 0.15. Large-load operations require the use of expensive heavy-load robots, and because of their heavy weight, they cannot be moved, so t...

Claims

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