Mechanical transmission decoupling method for multi-axis robot

Abstract

The invention relates to a mechanical transmission decoupling method for a multi-axis robot, which comprises the following steps of: (1) analyzing and extracting original mechanical transmission working conditions to obtain an original transmission function relational expression; (2) designing a differential gear box, and carrying out mathematical analysis on the differential gear box; (3) determining a decoupling transmission relation analytic expression; (4) determining a transmission structure according to the transmission relation of the decoupling transmission relation analytic expression; and (5) checking the transmission relation structure to meet the geometrical relation of the structure and ensure the practicability. According to the implementation of the technical scheme, transmission of all shafts of the robot is independent and is not mutually coupled, control decoupling is not needed in robot motor driving control, and the control difficulty and the complexity of a control algorithm are greatly reduced; precision errors of robot calculation and control are reduced; the requirement for the speed regulation characteristic of the motor is low, and the difficulty of motor design and model selection is reduced.

Description

technical field [0001] The invention belongs to the technical field of multi-axis robot application, and in particular relates to a method for decoupling mechanical transmission of a multi-axis robot. Background technique [0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. It can assist or even replace human beings to complete dangerous, heavy and complex work, improve work efficiency and quality, serve human life, and expand or extend human activities and capabilities. The robot drives the work unit to generate movement through the drive system, so as to complete the required action. The robot transmission system is a device that transmits the motion and power output by the driver to the work unit. There are many ways of transmission system, and mechanical transmission is a common way. [0003] In order to improve the heat resistance of grasping high-temperature workpieces, greatly reduce the quality of the front end of the ro...

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Problems solved by technology

[0003] In order to improve the heat resistance of grabbing high-temperature workpieces, greatly reduce the mass of the front end of the robot, lower the center of gravity of the robot, and improve the motion stability of the robot, the robot layout generally adopts a rear-mounted motor scheme, that is, the robot's 5-axis and 6-axis motors are rear-mounted, Putting it in the position of the big arm ensures the small shape of the end of the robot, but it also brings some problems to the mechanical transmission, that is, the transmission coupling. The transmission coupling will bring the following problems: 1. Control decoupling is required in the motor drive control, because the control solution Coupling and robot series pose calculations affect each other, greatly increasing the difficulty of control and the complexity of control algorithms

2. Due to the existence of transmission coupling and the influence of robot series pose calculation, the accuracy error of robot calculation and control is increased

3. Due to the existence of transmission coupling, each axis has a different range of motor speed regulation, resulting in more and stricter requirements for motor speed regulation characteristics

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