Robot mechanism performance optimization design method based on multidisciplinary joint simulation

Abstract

The invention discloses a robot mechanism performance optimization design method based on multidisciplinary joint simulation, and the method comprises the following steps: carrying out the parametric modeling and preliminary motion simulation through UG NX software, obtaining a preliminary simulation file, and making a rigid body model of a robot mechanism; carrying out multi-rigid-body dynamic analysis to obtain a rigid body model added with a drive and loaded at the tail end; establishing communication between the rigid body simulation model and the hydraulic simulation model; carrying out mechanical-power joint simulation analysis; the method comprises the following steps: carrying out flexibility processing on a component needing to be subjected to flexibility processing, and generating a modal *. Mnf neutral file; carrying out rigid-flexible coupling simulation analysis; and parameter optimization is carried out, and optimization design is completed. The method is used for dynamic simulation and test of a robot mechanism, the influence of kinematics and dynamics parameter changes of the mechanism on performance in the movement process of a robot is conveniently researched, structural scale parameters of the robot mechanism are optimized, an automatic process is constructed, repeated operation of designers is reduced, simulation time is saved, and efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of multibody dynamics simulation analysis, specifically involving a robot mechanism performance optimization design method based on multidisciplinary joint simulation. Background Technology

[0002] Robots play an indispensable role in the transformation and upgrading of traditional manufacturing industries due to their advantages such as high efficiency, reliability, and suitability for high-risk operations. Industrial robots, especially those operating in extreme environments with high loads and high speeds, cannot be simply viewed as rigid bodies. Their dynamic characteristics are more complex than traditional multi-rigid-body dynamics, exhibiting nonlinearity, coupling, and time-varying features. Furthermore, the robot's drive control also affects the accuracy of its end-effector control. Therefore, establishing a virtual prototype of the robot mechanism to analyze its coupling effects and perform performance analysis and optimization design before production is crucial for practical engineering applications.

[0003] For robotic mechanisms, traditional optimization methods involve performing individual simulations of specific aspects after structural design is completed, followed by repeated modifications based on the results. However, this approach may overlook the impact of coupling effects on the mechanism, leading to designs that do not meet actual performance requirements. Applying CAD / CAE co-simulation technology to the performance optimization research of robotic mechanisms, and exploring coupled dynamic finite element simulation analysis combining multiple software programs, provides valuable reference for similar optimization design methods. Summary of the Invention

[0004] This invention is proposed to address the problems existing in the prior art, and its purpose is to provide a robot mechanism performance optimization design method based on multidisciplinary joint simulation.

[0005] The technical solution of this invention is: a robot mechanism performance optimization design method based on multidisciplinary co-simulation, comprising the following steps: A. Use UG NX software to perform parametric modeling and preliminary motion simulation, obtain preliminary simulation files, and create a rigid body model of the robot mechanism; B. Based on the rigid body model, perform multi-rigid-body dynamics analysis to obtain a rigid body model with added drive and end-effector loading; C. Establish communication between the rigid body simulation model and the hydraulic simulation model; D. Perform mechanical-dynamic joint simulation analysis on the rigid body model in step B and the hydraulic simulation model in step C; E. For components that require flexibility, perform flexibility processing and generate a modal *.mnf neutral file; F. Based on the modal *.mnf neutral file, perform rigid-flexible coupling simulation analysis; G. Based on mechanical-dynamic joint simulation analysis and rigid-flexible coupling simulation analysis, parameter optimization is performed to complete the optimized design.

[0006] Furthermore, step A uses UG NX software for parametric modeling and preliminary motion simulation to obtain preliminary simulation files and create a rigid body model of the robot mechanism. The specific process is as follows: First, the robot mechanism was parametrically modeled and assembled using UG NX software; Then, configure the assembled driver; Next, a simple motion simulation was performed on the robot mechanism model; Finally, the simulation file of the robot mechanism is exported and used as the rigid body model of the robot mechanism.

[0007] Furthermore, step B involves performing multi-rigid-body dynamics analysis based on the rigid-body model to obtain a rigid-body model with added driving forces and end-effector loading. The specific process is as follows: First, import the simulation file exported in step A into the ADAMS virtual prototype analysis software; Then, the unit properties and material properties of each component in the robot mechanism are set; Next, a driver is added to the rigid body model of the robot, and the end effector of the industrial robot is loaded.

[0008] Furthermore, step C establishes communication between the rigid body simulation model and the hydraulic simulation model. The specific process is as follows: First, for high-load hydraulic robots, a hydraulic simulation model is established in AMESim software based on the hydraulic circuit diagram; Then, a communication module is established between AMESim and ADAMS software, generating a simulation dynamic library *.dll file.

[0009] Furthermore, step D involves performing a combined mechanical-dynamic simulation analysis on the rigid body model from step B and the hydraulic simulation model from step C. The specific process is as follows: First, by integrating the data communication functions of ADAMS and AMESim, variables and arrays for joint simulation are established in ADAMS, and the GSE state equations are established. Then, create a simulation script, run the simulation dynamic library *.dll file generated in step C, and perform mechanical-dynamic joint simulation analysis.

[0010] Furthermore, step E performs flexibility processing on the components that require flexibility, generating a modal *.mnf neutral file. The specific process is as follows: First, to improve simulation accuracy, the deformation of the components must be taken into account; Then, an interface with ANSYS is established in UG NX, and remote points are added to the components that require flexibility. Finally, the component flexibility processing algorithm script file is used to automatically process the component flexibility and generate a modal *.mnf neutral file.

[0011] Furthermore, step F, based on the modal *.mnf neutral file, performs rigid-flexible coupling simulation analysis, the specific process of which is as follows: First, replace the component in ADAMS using the *.mnf file generated in step E; Then, a rigid-flexible coupling simulation analysis is performed.

[0012] Furthermore, step G involves parameter optimization based on mechanical-dynamic joint simulation analysis and rigid-flexible coupling simulation analysis to complete the optimized design. The specific process is as follows: Mechanical-dynamic joint simulation and rigid-flexible coupling simulation are performed on the robot mechanism. Based on the simulation, the robot's structural parameters are optimized, thereby completing the performance optimization design of the robot.

[0013] The beneficial effects of this invention are as follows: This invention integrates the advantages of software such as UG NX, ADAMS, AMESim, and ANSYS Workbench. By utilizing the communication interfaces between the software, it considers the impact of coupling effects on robot operation and establishes a dual-coupling simulation model of mechanical-dynamic coupling and rigid-flexible coupling. This facilitates the acquisition of kinematic and dynamic parameter laws during the robot mechanism's task execution process, resulting in more realistic simulation results and providing a reference for further research and optimization of the mechanism.

[0014] This invention employs command recording and secondary development techniques from industrial software such as CAD / CAE. Macro recording for motion simulation is first performed in UG NX software, eliminating the need to create motion pairs in ADAMS. A customized integrated dialog box for simulation settings is created in ADAMS, and data synchronization between ADAMS and AMESim is achieved using a secondary development cmd language. The ANSYS Workbench dedicated scripting language and Python script commands are used to generate secondary development scripts for the flexibility algorithm, automating repetitive flexibility operations. This reduces the number of steps required from designers, saves simulation time, and improves analysis efficiency. Attached Figure Description

[0015] Figure 1 is a schematic flowchart of a robot mechanism performance optimization design method based on multidisciplinary joint simulation according to an embodiment of the present invention; Figure 2 is a simplified solid model of the classic configuration AMELT industrial robot with one degree of freedom of separation motion according to an embodiment of the present invention; Figure 3 shows a hydraulic simulation model of the hydraulic circuit based on the AMELT configuration according to an embodiment of the present invention, established in AMESim. Figure 4 shows the integrated interface for setting mechanical-dynamic joint simulation parameters for ADAMS secondary development according to an embodiment of the present invention. Figure 5 shows the interface between UG NX and ANSYS Workbench according to an embodiment of the present invention; Figure 6 shows the interface for selecting and storing flexible processing components according to an embodiment of the present invention; Figure 7 shows the ADAMS secondary development component replacement interface according to an embodiment of the present invention; Figure 8 shows the interface for automatically processing components by executing flexible script commands in ANSYS Workbench according to an embodiment of the present invention. Figure 9 shows the joint simulation analysis interface of the AMELT mechanism considering coupling effects according to an embodiment of the present invention; in: 1. Housing 2. Piston rod 3. Action cylinder 4. First rear support arm 5. Lower beam; 6. Second rear support arm 7 Second front control arm 8 First front control arm. Detailed Implementation

[0016] The present invention will now be described in detail with reference to the accompanying drawings and embodiments: like Figures 1 to 9 As shown, a performance optimization design method for robot mechanisms based on multidisciplinary co-simulation includes the following steps: A. Use UG NX software to perform parametric modeling and preliminary motion simulation, obtain preliminary simulation files, and create a rigid body model of the robot mechanism; B. Based on the rigid body model, perform multi-rigid-body dynamics analysis to obtain a rigid body model with added drive and end-effector loading; C. Establish communication between the rigid body simulation model and the hydraulic simulation model; D. Perform mechanical-dynamic joint simulation analysis on the rigid body model in step B and the hydraulic simulation model in step C; E. For components that require flexibility, perform flexibility processing and generate a modal *.mnf neutral file; F. Based on the modal *.mnf neutral file, perform rigid-flexible coupling simulation analysis; G. Based on mechanical-dynamic joint simulation analysis and rigid-flexible coupling simulation analysis, parameter optimization is performed to complete the optimized design.

[0017] Furthermore, step A uses UG NX software for parametric modeling and preliminary motion simulation to obtain preliminary simulation files and create a rigid body model of the robot mechanism. The specific process is as follows: First, the robot mechanism was parametrically modeled and assembled using UG NX software; Then, configure the assembled driver; Next, a simple motion simulation was performed on the robot mechanism model; Finally, the simulation file of the robot mechanism is exported and used as the rigid body model of the robot mechanism.

[0018] Furthermore, step B involves performing multi-rigid-body dynamics analysis based on the rigid-body model to obtain a rigid-body model with added driving forces and end-effector loading. The specific process is as follows: First, import the simulation file exported in step A into the ADAMS virtual prototype analysis software; Then, the unit properties and material properties of each component in the robot mechanism are set; Next, a driver is added to the rigid body model of the robot, and the end effector of the industrial robot is loaded.

[0019] Furthermore, step C establishes communication between the rigid body simulation model and the hydraulic simulation model. The specific process is as follows: First, for high-load hydraulic robots, a hydraulic simulation model is established in AMESim software based on the hydraulic circuit diagram; Then, a communication module is established between AMESim and ADAMS software, generating a simulation dynamic library *.dll file.

[0020] Furthermore, step D involves performing a combined mechanical-dynamic simulation analysis on the rigid body model from step B and the hydraulic simulation model from step C. The specific process is as follows: First, by integrating the data communication functions of ADAMS and AMESim, variables and arrays for joint simulation are established in ADAMS, and the GSE state equations are established. Then, create a simulation script, run the simulation dynamic library *.dll file generated in step C, and perform mechanical-dynamic joint simulation analysis.

[0021] Furthermore, step E performs flexibility processing on the components that require flexibility, generating a modal *.mnf neutral file. The specific process is as follows: First, to improve simulation accuracy, the deformation of the components must be taken into account; Then, an interface with ANSYS is established in UG NX, and remote points are added to the components that require flexibility. Finally, the component flexibility processing algorithm script file is used to automatically process the component flexibility and generate a modal *.mnf neutral file.

[0022] Furthermore, step F, based on the modal *.mnf neutral file, performs rigid-flexible coupling simulation analysis, the specific process of which is as follows: First, replace the component in ADAMS using the *.mnf file generated in step E; Then, a rigid-flexible coupling simulation analysis is performed.

[0023] Furthermore, step G involves parameter optimization based on mechanical-dynamic joint simulation analysis and rigid-flexible coupling simulation analysis to complete the optimized design. The specific process is as follows: Mechanical-dynamic joint simulation and rigid-flexible coupling simulation are performed on the robot mechanism. Based on the simulation, the robot's structural parameters are optimized, thereby completing the performance optimization design of the robot.

[0024] Specifically, the purpose of performing a simple motion simulation on the robot mechanism in step A is to generate *.adm, *.cmd, and *.txt files that can be imported into ADAMS, thus saving the step of setting additional kinematic pair constraints in ADAMS.

[0025] Specifically, in step D, the ADAMS secondary development is used to customize the mechanical-dynamic joint simulation settings integration interface, and cmd script commands are used to realize automated operation of the model and data communication.

[0026] Specifically, in step D, the solution array and the driving force set in the integrated interface need to be consistent with the settings in AMESim, that is, to ensure that the input of ADAMS is the output of the hydraulic control system and the output of ADAMS is the input of the hydraulic control system.

[0027] Specifically, in step E, an interface is established between UG NX and ANSYS Workbench. Remote points, i.e., the positions where flexible components contact the external rigid areas, can be added to the modeled components in the UG NX interface.

[0028] Specifically, step E, the flexible processing, uses an operation recording script combined with Python script commands to form an algorithm script for automated processing of components, thereby realizing structural modal analysis of individual parts. Example

[0029] A performance optimization design method for robot mechanisms based on multidisciplinary co-simulation includes the following steps: Step A. Use UG NX software to parametrically model and assemble AMELT, such as... Figure 2As shown, it includes a housing 1, a piston rod 2, an actuating cylinder 3, a first rear support arm 4, a lower beam 5, a second rear support arm 6, a second front support arm 7, and a first front support arm 8.

[0030] The kinematic pair constraints of the AMELT model were corrected in the UG NX simulation environment, and a simple motion simulation was performed. After the calculation, the simulation files of the AMELT separation mechanism, namely *.cmd, *.xmt_txt, and *.adm, were exported.

[0031] Step B. Import the *.cmd simulation file exported in Step A into the ADAMS software to complete the import of the AMELT mechanism rigid body model, which simplifies the process of adding kinematic pairs in ADAMS.

[0032] In this embodiment, the unit attribute is defined as "MMKS", which means the unit of length is millimeters, the unit of mass is kilograms, the unit of force is Newtons, and the unit of time is seconds; the material properties of the model are set, and a drive is added to the AMELT separation mechanism to load the separation end.

[0033] Step C. Based on the hydraulic circuit diagram, establish a hydraulic simulation model in AMESim software, as shown in Figure 3. Establish a communication module between AMESim and ADAMS software, and run "simulation mode" to generate a simulation dynamic library *.dll file, which will serve as the "solver library" file during ADAMS simulation.

[0034] Step D. Further settings are made in ADAMS to perform mechanical-dynamic co-simulation analysis. As shown in Figure 4, the operation process integration interface "Mechanical-dynamic co-simulation" is constructed using the ADAMS dialog box builder. Specific operation commands are written using ADAMS' recording function and built-in command scripting language to simplify the operation. The specific steps are as follows: d1. In the "1. Create state variable" function module of the interface, create a system unit and input the function value of the state variable; d2. In the “2.Create Solver Array” function module of the interface, create data units, including ARRAY_U (input), ARRAY_X (discrete), and ARRAY_Y (output). The definition of ARRAY_U depends on the order of the interface settings in AMESim and must correspond to the interfaces in the AMESim file. The definition of ARRAY_Y depends on the number of outputs. d3. In the “3.Deactivate Motion and Create Force” function module of the interface, perform failure driving and create a new contact force, and define the order of the force in the data unit. This order needs to be determined according to the interface settings in AMESim. d4. In the interface, create the GSE general state equation and simulation script in sequence in the "4. Create the GSE" and "5. Create simulation script" function modules; d5. Click the "6. Select the Solver Library file" button, select the "External" solver in the execution interface, select the dynamic library *.dll file exported by AMESim, and complete the mechanical-dynamic joint simulation.

[0035] Step E. Establish an interface with ANSYS Workbench in UG NX, add remote points to the components that need to be made flexible, as shown in Figure 5. Select the features at the joint positions in the component to create remote points and name them, then export the *.prt file.

[0036] As shown in Figure 6, the flexible processing interactive interface allows you to input the path to the *.prt file of the component and the output path to the neutral file. It then runs the automated script for the flexible algorithm, generated by combining ANSYS Workbench operation recording scripts and Python script commands, as shown in Figure 7. The algorithm flow includes: e1. Unit System Settings Use the SetProjectUnitSystem() function to set the project's unit system to "NMMTON_STANDARD"; use the GetTemplate() function to set the template name to "Model" and the solver to "ANSYS"; use the CreateSystem() function to create the simulation system; use GetContaner() to obtain the project data container; e2. Component Material Setting The component material is set using the CreateProperty() and SetData() functions. In the script, it is set to steel with a density of 7850 kg / m³. 3 Young's modulus: 208e3MPa, Poisson's ratio: 0.3; e3. Import the geometric model according to the path, and then enter the Mechanical module for flexible processing, including the following: e31. Create a remote point Use a for loop and the Model.NamedSelections.Children[i].Name command to get the names of the subclasses in the named selection on the component, and the Model.RemotePoints command to get the remote point components in the model. AddRemotePoint() to add remote points according to the number of names and the names, and add the command RMPT_name.AddCommandSnippet() to perform the above operations on all named remote points in step E. e32. Mesh Generation The Model.Mesh.AddAutomaticMethod() function is used to create a mesh generation method, and the Model.Mesh.AddSizing() function is used to adjust the mesh size. e33. Mesh Generation Use the Model.Mesh.GenerateMesh() function to generate the mesh; e34. Solve and send commands Use the Model.Analyses.Solve() function to call the solver method to execute the model's solver process. Use the SendCommand() function to send the script, specifying Python as the language. e35. After completion, save the WorkBench project and generate a *.mnf flexible body file according to the specified output path.

[0037] Its automated processing interface is shown in Figure 8.

[0038] Step F. Use the ADAMS dialog box component builder to construct an interface for replacing rigid bodies with flexible bodies. In ADAMS, use the *.mnf file generated in step E to replace the components and perform rigid-flexible coupling simulation analysis.

[0039] Step G. Perform mechanical-dynamic joint simulation and rigid-flexible coupling simulation on AMELT. As shown in Figure 9, the cuboid is the separated load. Taking its end motion as an example, the performance analysis is carried out. The mechanism size parameters are optimized through the end separation curve to obtain better separation performance.

[0040] This invention takes into account the coupling effect under real working conditions, adopts secondary development technology, and quickly establishes a coupled simulation model by integrating the mechanical-dynamic simulation setting interface and using flexible algorithms to automatically execute scripts. It optimizes the dimensional parameters for the robot mechanism performance, saving simulation time and improving efficiency.

[0041] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A performance optimization design method for robot mechanisms based on multidisciplinary co-simulation, characterized in that: Includes the following steps: A. Use UG NX software to perform parametric modeling and preliminary motion simulation, obtain preliminary simulation files, and create a rigid body model of the robot mechanism; B. Based on the rigid body model, perform multi-rigid-body dynamics analysis to obtain a rigid body model with added drive and end-effector loading; C. Establish communication between the rigid body simulation model and the hydraulic simulation model; D. Perform mechanical-dynamic joint simulation analysis on the rigid body model in step B and the hydraulic simulation model in step C; E. For components that require flexibility, perform flexibility processing and generate a modal *.mnf neutral file; F. Based on the modal *.mnf neutral file, perform rigid-flexible coupling simulation analysis; G. Based on mechanical-dynamic joint simulation analysis and rigid-flexible coupling simulation analysis, parameter optimization is performed to complete the optimized design.

2. The robot mechanism performance optimization design method based on multidisciplinary co-simulation according to claim 1, characterized in that: Step A involves using UG NX software for parametric modeling and preliminary motion simulation to obtain preliminary simulation files and create a rigid body model of the robot mechanism. The specific process is as follows: First, the robot mechanism was parametrically modeled and assembled using UG NX software; Then, configure the assembled driver; Next, a simple motion simulation was performed on the robot mechanism model; Finally, the simulation file of the robot mechanism is exported and used as the rigid body model of the robot mechanism.

3. The robot mechanism performance optimization design method based on multidisciplinary co-simulation according to claim 1, characterized in that: Step B involves performing multi-rigid-body dynamics analysis based on the rigid-body model to obtain a rigid-body model with added driving forces and end-effector loading. The specific process is as follows: First, import the simulation file exported in step A into the ADAMS virtual prototype analysis software; Then, the unit properties and material properties of each component in the robot mechanism are set; Next, a driver is added to the rigid body model of the robot, and the end effector of the industrial robot is loaded.

4. The robot mechanism performance optimization design method based on multidisciplinary co-simulation according to claim 1, characterized in that: Step C establishes communication between the rigid body simulation model and the hydraulic simulation model. The specific process is as follows: First, for high-load hydraulic robots, a hydraulic simulation model is established in AMESim software based on the hydraulic circuit diagram; Then, a communication module is established between AMESim and ADAMS software, generating a simulation dynamic library *.dll file.

5. The robot mechanism performance optimization design method based on multidisciplinary co-simulation according to claim 1, characterized in that: Step D involves performing a combined mechanical-dynamic simulation analysis on the rigid body model from Step B and the hydraulic simulation model from Step C. The specific process is as follows: First, by integrating the data communication functions of ADAMS and AMESim, variables and arrays for joint simulation are established in ADAMS, and the GSE state equations are established. Then, create a simulation script, run the simulation dynamic library *.dll file generated in step C, and perform mechanical-dynamic joint simulation analysis.

6. The robot mechanism performance optimization design method based on multidisciplinary co-simulation according to claim 1, characterized in that: Step E involves performing flexibility processing on the components that require flexibility, generating a modal *.mnf neutral file. The specific process is as follows: First, to improve simulation accuracy, the deformation of the components must be taken into account; Then, an interface with ANSYS is established in UG NX, and remote points are added to the components that require flexibility. Finally, the component flexibility processing algorithm script file is used to automatically process the component flexibility and generate a modal *.mnf neutral file.

7. The robot mechanism performance optimization design method based on multidisciplinary co-simulation according to claim 1, characterized in that: Step F, based on the modal *.mnf neutral file, performs rigid-flexible coupling simulation analysis. The specific process is as follows: First, replace the component in ADAMS using the *.mnf file generated in step E; Then, a rigid-flexible coupling simulation analysis is performed.

8. The robot mechanism performance optimization design method based on multidisciplinary co-simulation according to claim 1, characterized in that: Step G involves parameter optimization based on mechanical-dynamic joint simulation analysis and rigid-flexible coupling simulation analysis to complete the optimized design. The specific process is as follows: Mechanical-dynamic joint simulation and rigid-flexible coupling simulation are performed on the robot mechanism. Based on the simulation, the robot's structural parameters are optimized, thereby completing the performance optimization design of the robot.

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