Robot rigidity design method based on rigidity model and terminal

A technology of stiffness design and stiffness model, applied in manipulators, manufacturing tools, etc., can solve problems such as linear stiffness not considered, only focus on torsional stiffness, local optimization, etc.

Active Publication Date: 2021-03-30
716TH RES INST OF CHINA SHIPBUILDING INDAL CORP +1
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Problems solved by technology

In summary, the existing robot stiffness design methods have the following problems: they only focus on the torsional stiffness of the robot joints, and do not consider other factors that affect the stiffness of the robot end, such as overturning stiffness and linear stiffness; (2-3) The stiffness design of the robot is not involved in the robot with six degrees of freedom or even redundant degrees of freedom; the existing stiffness optimization design method is prone to local optima

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  • Robot rigidity design method based on rigidity model and terminal
  • Robot rigidity design method based on rigidity model and terminal
  • Robot rigidity design method based on rigidity model and terminal

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[0079] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0080] In one embodiment, combined with figure 1 , provide a kind of robot stiffness design method based on stiffness model, described method comprises the following steps:

[0081] Step 1, establish the robot stiffness model according to the robot structure and stiffness design parameters;

[0082] Step 2, select the reference pose for robot stiffness design;

[0083] Step 3, constructing a stiffness optimization comprehensive model including the stiffness comprehensive evaluation function, constraint conditions and initial values;

[0084] Step 4, solving the stiffnes...

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Abstract

The invention discloses a robot rigidity design method based on a rigidity model and a terminal. The robot rigidity design method comprises the following steps: establishing the robot rigidity model according to robot structure and rigidity design parameters; selecting a reference pose which conforms to the robot rigidity design; constructing a rigidity optimization comprehensive model which comprises rigidity comprehensive evaluation functions, constraint conditions and initial values; and solving the rigidity optimization comprehensive model to acquire an optimal solution to a rigidity design variable. Through the robot rigidity design method, an optimal distribution scheme of robot rigidity parameters can be found under the robot tail-end rigidity constraint; the robot rigidity and thestructure design can be more reasonable; and the robot rigidity design method has important significance in reducing the robot manufacturing cost.

Description

technical field [0001] The invention belongs to the field of industrial robot design, in particular to a stiffness model-based robot stiffness design method and a terminal. Background technique [0002] The stiffness of the robot system refers to the ability of the robot system to resist the deformation of the external force, which is manifested as the elastic deformation of the end of the robot under the action of external force. Most of the previous research on the stiffness of robots focused on the modeling, identification, and compensation of the overall robot stiffness, and there were few studies on the stiffness design of the robotic arm. For general industrial robots, the design principle of the stiffness of the robot system is that the greater the stiffness, the better. The improvement of the stiffness performance is beneficial to the robot to obtain good motion and dynamic performance, but there is no absolute rigid body. At the same time, some rigid-flexible or so...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
CPCB25J19/007
Inventor 胡明伟孙宏伟邹金欣李萌萌杨迎霞赵昀王传生
Owner 716TH RES INST OF CHINA SHIPBUILDING INDAL CORP
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