Series industrial robot static stiffness identification system and method oriented to machining site
A technology of industrial robots and static stiffness, applied in manipulators, manufacturing tools, etc., can solve problems such as the influence of light intensity, achieve the effect of improving precision and reducing costs
Active Publication Date: 2021-05-04
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
[0005] In view of this, the present invention provides a static stiffness identification system and method for serial industrial robots facing the processing site to solve the problems raised in the background technology, avoiding the traditional method of using a laser tracker that is susceptible to environmental temperature, air vibration, light Disadvantages affected by factors such as strength
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[0065] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0066] Embodiment 1 of the present invention discloses a static stiffness identification method for serial industrial robots oriented to the processing site, such as figure 1 shown, including the following steps:
[0067] Step 1: Establish the robot velocity Jacobian matrix and force Jacobian matrix;
[0068] Specifically, step one includes the following:
[0069] (1-1) Use the DH method to establish a robot kinematics model:
[0070]
[0071] Expand the...
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The invention discloses a series industrial robot static stiffness identification system and method oriented to a machining site, and relates to the technical field of industrial robot stiffness calibration. The method comprises the following steps of establishing a speed Jacobian matrix and a force Jacobian matrix of a robot; establishing a robot joint rigidity model; selecting a pose of the robot, and measuring the stress and deformation of the tail end of the robot under the specific pose; and calculating the joint rigidity of the robot by adopting a least square method and combining experimental data. Compared with the prior art, the system and method have the following beneficial effects that a dial indicator and a three-dimensional force sensor are adopted to identify the joint rigidity of the robot, so that the cost of identifying the rigidity of the robot is greatly reduced; and the defect that a laser tracker adopted in a traditional representation method is prone to being influenced by factors such as environment temperature, air vibration and illumination intensity is overcome, and the precision of joint rigidity identification of the robot on the machining site can be effectively improved by detecting tail end deformation of the robot through the dial indicator.
Description
technical field [0001] The invention relates to the technical field of stiffness calibration of industrial robots, and more specifically relates to a static stiffness identification system and method for serial industrial robots facing the processing site. Background technique [0002] Industrial robots have been widely used in drilling, grinding, milling and other processing fields in recent years. Compared with traditional CNC machine tools, industrial robots have a high degree of processing flexibility, and their multi-joint structure brings a higher degree of freedom, and can adopt more flexible and changeable poses to achieve processing goals. On the other hand, the series structure of long connecting rods connected by rotary joints results in the rigidity of industrial robots being only 1 / 50 to 1 / 20 of that of traditional CNC machine tools, resulting in large deformations at the ends of industrial robots when they are subjected to working loads. The large cutting forc...
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IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 刘志兵潘小雨王西彬焦黎解丽静梁志强颜培周天丰沈文华滕龙龙
Owner BEIJING INSTITUTE OF TECHNOLOGYGY