Robot external active gravity compensation system and simulation verification method

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.

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...

AI Technical Summary

Problems solved by technology

In the counterweight balancing method commonly used in palletizing robots, the gravitational potential energy is exchanged between the structure of the manipulator and the counterweight, which improves the energy utilization efficiency of the system and reduces the joint torque demand, but this method increases the mass and inertia of the robot , reducing joint responsiveness

Juan Carlos Cambera uses a spring gravity compensation device to reduce the load on some joint axes of the robot, but this method has a poor compensation effect on the end joints and is not suitable for gravity compensation of large mass loads at the end of a six-axis robot

The external active gravity compensation device designed by Yang Zhang et al. achieves gravity compensation by adding additional auxiliary actuators, but due to the cooperative control problem, it can only realize the gravity compensation of the plane motion of the end load

[0005] System control with active gravity compensation needs to use dynamics simulation for effect verification, but the existing robot rigid body dynamics simulation lacks simulation support for passive joints and rope transmission, and cannot be applied to the control effect simulation verification of active gravity compensation system

Images