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Overall rigidity modeling method for six-axis industrial robot hole making system comprising operation tool

A technology for robot hole making and working tools, which is applied in the field of overall stiffness modeling of a six-axis industrial robot hole making system, can solve the problem that the overall stiffness model of the robot hole making system cannot be established, etc., so as to improve the integrity and accuracy and improve the processing. Accuracy and quality, the effect of overcoming the lack of stiffness

Pending Publication Date: 2022-08-09
CHINA JILIANG UNIV
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Problems solved by technology

[0005] In view of this, the present invention provides a method for modeling the overall stiffness of a six-axis industrial robot drilling system including working tools, aiming at the technical problem that the overall stiffness model of the robot drilling system cannot be established in the above-mentioned prior art

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  • Overall rigidity modeling method for six-axis industrial robot hole making system comprising operation tool
  • Overall rigidity modeling method for six-axis industrial robot hole making system comprising operation tool
  • Overall rigidity modeling method for six-axis industrial robot hole making system comprising operation tool

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[0021] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0022] The present invention covers any alternatives, modifications, equivalent methods and arrangements made within the spirit and scope of the present invention. In order to give the public a thorough understanding of the present invention, specific details are described in detail in the following preferred embodiments of the present invention, and those skilled in the art can fully understand the present invention without the description of these details. In addition, the drawings of the present invention are not drawn exactly to actual scale for the purpose of illustration, and are described herein.

[0023] like figure 1 As shown, the six-axis industrial robot hole-making system includes a six-axis robot body 1 and a working tool, and the working tool includes a hole-making tool 2 , an electric spindle 3 and a support frame 4 .

[0024] li...

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Abstract

The invention discloses an overall rigidity modeling method for a six-axis industrial robot hole making system comprising an operation tool, and the method comprises the following steps: obtaining a robot equivalent joint rigidity matrix according to a virtual joint method; a robot body stiffness matrix is obtained according to the dual quaternion; obtaining an operation tool stiffness matrix according to the Euler-Bernoulli beam theory; and obtaining an overall rigidity model of the six-axis industrial robot drilling system comprising the operation tool according to a linear superposition principle. According to the method, the integrity and the accuracy of rigidity modeling of an industrial robot hole making system can be improved, an overall rigidity modeling method including an operation tool is provided for optimizing the hole making rigidity of a six-axis industrial robot, and a new thought is provided for overcoming insufficient rigidity of robots and improving the machining precision and the machining quality in the intelligent manufacturing industry.

Description

technical field [0001] The invention belongs to the technical field of robot stiffness modeling, in particular to a method for modeling the overall stiffness of a six-axis industrial robot hole-making system including working tools. Background technique [0002] With the rapid development of automation equipment in the manufacturing industry, the 6-joint series robot can approach the processing hole in various attitudes with its redundant degrees of freedom, which shows strong space flexibility and cost advantages in the manufacturing industry. However, the structural characteristics of the tandem robot similar to the cantilever beam lead to its insufficient static stiffness, and the resulting machining error is the main factor restricting the industrial robot in the current practical operation. During the machining process, due to the influence of various factors such as the dynamic stiffness and natural frequency of the robot, chatter vibration occurs between the tool and ...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1605B25J9/1607
Inventor 姚宝国葛雨勋李浩杰
Owner CHINA JILIANG UNIV
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