Dynamics modeling method of six-axis industrial robot

Abstract

The invention discloses a dynamics modeling method of a six-axis industrial robot. According to the method, firstly, the six-axis industrial robot is equivalent to a limited number of mass points with mass, related parameters of the mass points are determined, mass point motion displacement is calculated through a central difference formula based on generalized vector type mechanics, in combination with a harmonic reducer nonlinear friction model with bearing faults and flexible gear tooth backlash at joints, the motion deformation condition of the industrial robot is described, and a six-axis industrial robot dynamics model more conforming to actual working conditions is established. According to the method, the six-axis industrial robot is simplified and described, the calculation precision is improved by adopting a generalized vector type finite element theory and iterative calculation, the calculation process is simple, iterative calculation is easy to perform by using a computer, the more accurate position of the end execution point of a mechanical arm is obtained, and a theoretical basis is also provided for revealing a fault mechanism of the six-axis industrial robot.

Description

technical field [0001] The invention belongs to the technical field of dynamic modeling, and in particular relates to a dynamic modeling method of a six-axis industrial robot. Background technique [0002] Accurate dynamic modeling of six-axis industrial robots is an important theoretical basis for realizing high-speed and high-precision operation of six-axis industrial robots. Currently, the dynamic modeling methods for six-axis industrial robots mainly include Newton-Eulerian method and Lagrangian method. The Newton-Euler method analyzes each component separately by describing the relationship between the drive torque, load moment, inertia term and acceleration of the six-axis industrial robot, and derives the dynamic equation of the entire system. The rigid simplified model of the six-axis industrial robot is more suitable, but it is difficult to model the flexible six-axis industrial robot; the Lagrangian method ignores the internal force between the adjacent arms of the...

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Problems solved by technology

[0002] Accurate dynamic modeling of six-axis industrial robots is an important theoretical basis for realizing high-speed and high-precision operation of six-axis industrial robots. Currently, the dynamic modeling methods for six-axis industrial robots mainly include Newton-Eulerian method and Lagrangian method. The Newton-Euler method analyzes each component separately by describing the relationship between the drive torque, load moment, inertia term and acceleration of the six-axis industrial robot, and derives the dynamic equation of the entire system. The rigid simplified model of the six-axis industrial robot is more suitable, but it is difficult to model the flexible six-axis industrial robot; the Lagrangian method ignores the internal force between the adjacent arms of the six-axis industrial robot, and takes the whole system of the six-axis industrial robot as the Object, by calculating the kinetic energy and potential energy of the system to establish a differential equation, and then calculate the dynamic equation of the system, but it is mostly used in the dynamic modeling of industrial robots with simple structures, which cannot satisfy the dynamic modeling of six-axis industrial robots The actual demand; the nonlinear friction of the harmonic reducer at the joints of industrial robots and the backlash error of the teeth are also important features that affect the working accuracy of industrial robots. Therefore, a method that can consider the flexible deformation of six-axis industrial robots and the harmonic Dynamic modeling method of nonlinear friction and backlash error of wave reducer

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