Rigidity modeling method for Cartesian space at tail end of parallel-serial robot

Abstract

The invention provides a rigidity modeling method for a Cartesian space at the tail end of a parallel-serial robot. The rigidity modeling method comprises the following steps that virtual nodes are extracted based on robot configuration; according to a fixing platform, the tail end point and a robot structure, the flowing direction of a virtual node flow is determined; information such as flexibility of each contact or part is transmitted and merged according to the flowing direction of the virtual node flow until the flexibility matrix of the tail end point is determined; the inverse of the flexibility matrix of the tail end point is the tail end Cartesian space rigidity matrix of the robot. According to the rigidity modeling method, the defects that a conventional finite element analysis method is low in solving efficiency, a matrix structure analysis method is low in solving precision, and a virtual hinge method depends on a robot structure and is complex in over-constrained or composite joint solving are overcome, the rigidity characteristic of the robot can be quantitatively described in real time, the rigidity deformation of the tail end of the robot is quantitatively, accurately and rapidly predicted, and the rigidity modeling method has important significance in the fields of configuration integration, size optimization, force control, static analysis and the like of the robot.

Description

technical field [0001] The present application belongs to the field of robot technology, and in particular relates to a stiffness modeling method of Cartesian space at the end of a parallel hybrid robot. Background technique [0002] Parallel-hybrid mechanisms have attracted extensive attention from academia and industry due to their superiority over series mechanisms in terms of accuracy, stiffness, and dynamic performance. Where high stiffness and fast dynamic response are required in applications such as high-speed machining, strong assembly, etc., the stiffness matrix at the end should always be considered, and the stiffness of the robot is a particularly important performance factor. [0003] The terminal Cartesian space stiffness modeling of the parallel hybrid robot is to give the stiffness or flexibility matrix of the actuator end of the terminal robot for any robot pose, which is a direct quantitative embodiment of the robot's stiffness properties. The modeling of ...

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Problems solved by technology

[0006] For this reason, an object of the present application is to propose a method for modeling the stiffness of the Cartesian space at the end of the parallel hybrid robot, which can solve the problem of modeling the stiffness of the Cartesian space at the end of the parallel hybrid robot in the prior art, thereby being more accurate, Quickly calculate end stiffness or compliance matrices for parallel hybrid robots

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