Parametric robot adams dynamics modeling method

Abstract

The application provides a parameterized mechanical arm ADAMS dynamics modeling method, comprising the following steps: obtaining DH coordinates and dynamics parameters required for mechanical arm modeling; calculating interlink recursive relationship of the mechanical arm according to the DH coordinates; establishing design variables of the ADAMS dynamics model of the mechanical arm; describing modeling elements in the ADAMS dynamics model of the mechanical arm according to the design variables and the interlink recursive relationship of the mechanical arm; and modifying mass characteristics of the ADAMS dynamics model of the mechanical arm. The DH coordinates are improved DH coordinates; the modeling elements comprise coordinate systems, geometries, kinematic pairs and driving forces. Therefore, the parameterized mechanical arm ADAMS dynamics modeling can be realized according to the DH coordinates without depending on a three-dimensional entity model of the mechanical arm, the physical meaning is clear, the arm type is adjusted flexibly and conveniently, the interlink size of the mechanical arm or the joint assembly mode can be changed, the reuse of the dynamics model of the mechanical arm is realized, and the development cost of repeated modeling is reduced.

Description

Technical Field

[0001] This invention relates to the field of robotic arm modeling and simulation technology, specifically to a parametric robotic arm ADAMS dynamic modeling method. Background Technology

[0002] Dynamic modeling of robotic arms is the theoretical foundation for robotic arm simulation control and structural design. Establishing a dynamic model of the mechanical system of a robotic arm based on virtual prototyping technology has important applications in researching robotic arm control algorithms and designing operational tasks in constrained space. Automatic Dynamic Analysis of Mechanical Systems (ADAMS) software is an important platform for realizing virtual prototyping technology for robotic arms.

[0003] The conventional modeling process for the ADAMS dynamics model of a robotic arm is as follows: a 3D solid model of the robotic arm is drawn using 3D parametric modeling software, the model is imported into ADAMS, and a simulation environment for the virtual prototype is built by adding motion constraints and driving conditions to complete the ADAMS dynamics modeling of the robotic arm.

[0004] However, in this conventional modeling method, the robotic arm's ADAMS dynamics model relies on the robotic arm's 3D solid model. Once the size of the robotic arm's links or the assembly method of its joints changes, the 3D solid model of the robotic arm needs to be modified first, then imported back into ADAMS, and the model elements such as motion constraints and drives need to be re-established. If the initial arm shape of the robotic arm needs to be adjusted, each joint part and the reference coordinate system of motion constraints and drives needs to be moved one by one, which is inefficient and prone to errors. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a parametric ADAMS dynamic modeling method for robotic arms.

[0006] In a first aspect, embodiments of this application provide a parametric robotic arm ADAMS dynamics modeling method, including:

[0007] Step 1: Obtain the DH coordinates and dynamic parameters required for robotic arm modeling;

[0008] Step 2: Calculate the recursive relationship between the links of the robotic arm based on the DH coordinates;

[0009] Step 3: Based on the DH coordinates, establish the design variables for the ADAMS dynamic model of the robotic arm;

[0010] Step 4: Based on the design variables corresponding to the DH coordinates and the recursive relationship between the links of the robotic arm, describe the modeling elements in the ADAMS dynamic model of the robotic arm, wherein the modeling elements include: coordinate system, geometry, kinematic pairs, and driving force;

[0011] Step 5: Modify the mass characteristics of the ADAMS dynamic model of the robotic arm according to the dynamic parameters.

[0012] Optionally, the DH coordinates may be modified DH coordinates.

[0013] Optionally, step 2 includes:

[0014] The pose relationship between adjacent link coordinate systems {i} and {i-1} is described using the improved DH coordinate rule as follows:

[0015]

[0016] In the formula: i-1 T i Let c denote the homogeneous transformation matrix from the link coordinate system {i-1} to {i}, where c represents cosine, s represents sinine, and a represents sinine. i This represents the distance from the origin of the {i-1} coordinate system to x. i-1 axis and z i The intersection of the axes along the x-axis i-1 The offset distance of the axis, d i Indicates from x i-1 axis and z i The intersection of the axes to the origin of the {i} coordinate system along the z-axis i Distance along the axis, α i Indicates revolving around x i-1 The axis (according to the right-hand rule) is determined by z. i-1 Axis rotation z i The angle of the axis, θ i Indicates revolving around z i The axis (according to the right-hand rule) is determined by x. i-1 Axis steering x i The joint angle of the shaft;

[0017] The attitude and position parts are respectively represented as

[0018]

[0019] In the formula cθ i =cos(θ) i ),sθ i =sin(θ) i ),cα i =cos(α) i ),sα i =sin(α) i );i-1 R i This represents the attitude transformation matrix from the link coordinate system {i-1} to {i}. i-1 p i This represents the position vector of the link coordinate system {i} relative to {i-1};

[0020] Based on the inverse transformation relationship between the attitude matrix and Euler angles, by i-1 R i The attitude vector is calculated. i-1 E i as follows:

[0021]

[0022] Optionally, step 4 includes:

[0023] Step 4.1: In the ADAMS dynamic model of the robotic arm, the position of the coordinate system is determined by the Location parameter, and the attitude is determined by the Orientation parameter. The modeling functions LOC_RELATIVE_TO and ORI_RELATIVE_TO are used to implement the parametric modeling of the position and attitude between the two coordinate systems. Assume that the name of the link coordinate system {i} in ADAMS is MARKER_i, and the name of the link coordinate system {i-1} is MARKER_b.

[0024] The position and attitude parameters of the link coordinate system {i} are recursively derived from the link coordinate system {i-1} as follows:

[0025] Location parameter: LOC_RELATIVE_TO({a i ,-d i sα i ,d i cα i},MARKER_b)

[0026] Orientation parameter: ORI_RELATIVE_TO({0,α) i ,θ i},MARKER_b);

[0027] Step 4.2: For each link of the robotic arm, use two cylindrical geometric features to illustrate the link profile. The geometric features in the ADAMS dynamic model of the robotic arm have their positions and orientations determined by the reference coordinate system.

[0028] The position and attitude parameters of the first cylindrical profile reference coordinate system of link i are recursively derived from the link coordinate system {i-1} as follows:

[0029] Location parameter: LOC_RELATIVE_TO({0,0,0},MARKER_b)

[0030] Orientation parameter: ORI_RELATIVE_TO({90,90,α) i},MARKER_b)

[0031] The length of the first cylindrical profile is a. i The radius can take any value and is independent of the DH coordinate.

[0032] The position and attitude parameters of the second cylindrical profile reference coordinate system of link i are recursively derived from the link coordinate system {i-1} as follows:

[0033] Location parameter: LOC_RELATIVE_TO({a i ,0,0},MARKER_b)

[0034] Orientation parameter: ORI_RELATIVE_TO({0,α) i ,θ i},MARKER_b)

[0035] The length of the second cylindrical profile is d. i The radius can take any value and is independent of the DH coordinate.

[0036] Step 4.3: The kinematic pairs in the ADAMS dynamic model of the robotic arm are determined by two reference coordinate systems belonging to adjacent links. The kinematic pair type between the adjacent links is a revolute joint. The position and orientation parameters of the revolute joint reference coordinate system between link i-1 and link i are recursively derived from the link coordinate system {i-1} as follows:

[0037] Location parameter: LOC_RELATIVE_TO({a i ,0,0},MARKER_b)

[0038] Orientation parameter: ORI_RELATIVE_TO({0,α) i ,θ i},MARKER_b);

[0039] Step 4.4: The forces in the ADAMS dynamic model of the robotic arm are determined by two reference coordinate systems belonging to adjacent links, which determine their positions and attitudes. The force type between adjacent links is torque. The position and attitude parameters of the force reference coordinate system between link i-1 and link i are recursively derived from the link coordinate system {i-1} as follows:

[0040] Location parameter: LOC_RELATIVE_TO({a i ,0,0},MARKER_b)

[0041] Orientation parameter: ORI_RELATIVE_TO({0,α) i ,θ i},MARKER_b).

[0042] Optionally, step 5 includes:

[0043] Step 5.1: Modify the position and attitude parameters of the center of mass of each link according to the center of mass data in the dynamic parameters;

[0044] The position and attitude parameters of the centroid coordinate system of link i are recursively derived from the link coordinate system {i} as follows:

[0045] Location parameter: LOC_RELATIVE_TO({dx i ,dy i ,dz i},MARKER_i);

[0046] Orientation parameter: ORI_RELATIVE_TO({0,0,0},MARKER_i);

[0047] Where dx i ,dy i ,dz i These are the x-axis, y-axis, and z-axis position coordinates of the connecting rod's center of mass in the connecting rod coordinate system, where the connecting rod's center of mass is generally aligned with the direction of the connecting rod coordinate system.

[0048] Step 5.2: Modify the mass and inertia parameters of each link according to the mass and inertia data in the dynamic parameters.

[0049] Optionally, step 6 is also included:

[0050] Import the 3D model of the robotic arm and establish parametric associations for the 3D geometry.

[0051] Optionally, step 6 includes:

[0052] Use CAD software to create a 3D model of the robotic arm containing detailed features;

[0053] Adjust the arm shape of the 3D model of the robotic arm to keep it consistent with the arm shape in the ADAMS model of the robotic arm;

[0054] Import the 3D model of the robotic arm into the ADAMS model of the robotic arm, and make it coincide with the state of the already built robotic arm model;

[0055] Modify the hierarchical relationships of each 3D geometry and merge each 3D geometry into the corresponding link parts of the existing ADAMS dynamic model of the robotic arm;

[0056] For any three-dimensional geometry in link i, first measure the position and orientation of the reference coordinate system of that geometry relative to the link coordinate system {i}, assuming it is [x i y i z i az 1i ax 2i az 3i ], where: x i y i z i Let a and b represent the x-axis, y-axis, and z-axis positions of the reference coordinate system of this geometry in the link coordinate system {i}, respectively. 1i ,ax 2i , az 3i Let z, x, z represent the Euler angles in the reference coordinate system of this geometry relative to the link coordinate system {i}.

[0057] The position and orientation parameters of the reference coordinate system for this three-dimensional geometry are as follows:

[0058] Location parameter: LOC_RELATIVE_TO({x i ,y i ,z i},MARKER_i)

[0059] Orientation parameter: ORI_RELATIVE_TO({az 1i ,ax 2i ,az 3i},MARKER_i).

[0060] Secondly, embodiments of this application provide a parametric robotic arm ADAMS dynamics modeling device, comprising: a processor and a memory, wherein the memory stores executable program instructions, and when the processor invokes the program instructions in the memory, the processor is used to:

[0061] Perform the steps of the parametric robotic arm ADAMS dynamics modeling method as described in any one of the first aspects.

[0062] Thirdly, embodiments of this application provide a computer-readable storage medium for storing a program, which, when executed, implements the steps of the parameterized robotic arm ADAMS dynamic modeling method as described in any one of the first aspects.

[0063] Compared with the prior art, the present invention has the following beneficial effects:

[0064] The parametric robotic arm ADAMS dynamic modeling method provided in this application can achieve parametric robotic arm ADAMS dynamic modeling without relying on the three-dimensional solid model of the robotic arm, based on DH coordinates. The physical meaning is clear, the arm shape can be adjusted flexibly and conveniently, and the size of the robotic arm links or the joint assembly method can be changed to realize the reuse of the robotic arm dynamic model, reduce the development cost of repeated modeling, and make it easier to implement. Attached Figure Description

[0065] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort. Other features, objects, and advantages of the present invention will become more apparent by reading the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0066] Figure 1 A flowchart illustrating a parametric robotic arm ADAMS dynamics modeling method provided in this application embodiment;

[0067] Figure 2 A schematic diagram of the DH coordinates of a seven-DOF robotic arm provided in an embodiment of this application;

[0068] Figure 3(a) is a schematic diagram of the initial structure of the first type of robotic arm provided in the embodiment of this application;

[0069] Figure 3(b) is a schematic diagram of the initial structure of the second type of robotic arm provided in the embodiment of this application;

[0070] Figure 3(c) is a schematic diagram of the initial structure of the third type of robotic arm provided in the embodiment of this application;

[0071] Figure 3(d) is a schematic diagram of the initial structure of the fourth type of robotic arm provided in the embodiment of this application;

[0072] Figure 4(a) is a detailed structural diagram of the first type of robotic arm provided in the embodiment of this application;

[0073] Figure 4(b) is a detailed structural diagram of the second type of robotic arm provided in the embodiment of this application;

[0074] Figure 4(c) is a detailed structural diagram of the third type of robotic arm provided in the embodiment of this application;

[0075] Figure 4(d) is a detailed structural diagram of the fourth type of robotic arm provided in the embodiments of this application;

[0076] Figure 5 This is a schematic diagram of the parametric ADAMS dynamics model of the robotic arm based on the DH coordinates in Table 1;

[0077] Figure 6 This is a schematic diagram of the parametric ADAMS dynamic model of the robotic arm based on the DH coordinates in Table 5.

[0078] In the diagram: 1-robotic arm mounting base, 2-first link, 3-second link, 4-third link, 5-fourth link, 6-fifth link, 7-sixth link, 8-seventh link. Detailed Implementation

[0079] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0080] It should be noted that when a component is said to be "fixed" to another component, it can be directly on the other component or it can be in a middle component. When a component is said to be "connected" to another component, it can be directly connected to the other component or it may be in a middle component.

[0081] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0082] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0083] The technical solutions of the present invention and how they solve the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0084] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0085] Figure 1 A flowchart of a parametric robotic arm ADAMS dynamics modeling method provided in this application embodiment is shown below. Figure 1 As shown, the method in this embodiment may include: obtaining the DH coordinates and dynamic parameters required for robotic arm modeling; calculating the recursive relationships between the links of the robotic arm based on the DH coordinates; establishing the design variables of the robotic arm ADAMS dynamic model based on the DH coordinates; describing the modeling elements in the robotic arm ADAMS dynamic model based on the design variables corresponding to the DH coordinates and the recursive relationships between the links of the robotic arm; and modifying the mass characteristics of the robotic arm ADAMS dynamic model based on the dynamic parameters. Wherein, the DH coordinates are improved DH coordinates; the modeling elements include coordinate systems, geometry, kinematic pairs, and driving forces; and, if necessary, importing a refined 3D model of the robotic arm and establishing parametric associations for the 3D geometry.

[0086] According to the method proposed by the present invention, in this embodiment, as follows Figure 2 The seven-DOF robotic arm shown is the object, and a parametric ADAMS dynamic model of the robotic arm is established based on the improved DH coordinates.

[0087] The improved DH coordinates and dynamic parameters required for robotic arm modeling are shown in Table 1 and Table 2, respectively.

[0088] Table 1 Improved DH Coordinates for the Robotic Arm

[0089]

[0090]

[0091] Table 2 Dynamic parameters of the robotic arm

[0092]

[0093] According to the improved DH coordinate rule, establish a link coordinate system, such as... Figure 2 As shown. The coordinate system {0} is the base coordinate system fixed on the base, and the coordinate systems {1} to {7} are the link coordinate systems fixed on the links 1 to 7. The coordinate systems {0} and {1} to {7} are collectively referred to as the link coordinate system, and the base is defined as link 0.

[0094] For a seven-DOF robotic arm, there are 28 DH coordinates. All DH coordinates are set as design variables in ADAMS, named with the prefix "DH_". An additional 7 design variables are set to represent the initial arm profile angle of the robotic arm, named with the prefix "DV_", whose physical meaning is relative to... Figure 2 The joint angle increments shown in the zero-position arm profile are used to facilitate adjustments to the initial arm profile of the robotic arm. The robotic arm design variable parameters created in the ADAMS model are shown in Table 3.

[0095] Table 3. Parameters of the Robotic Arm Design Variables Created in the ADAMS Model

[0096] Number <![CDATA[DH_a i ]]> <![CDATA[DH_α i ]]> <![CDATA[DH_d i ]]> <![CDATA[DH_θ i ]]> <![CDATA[DV_θ i ]]> 1 DH_a1 DH_alpha1 DH_d1 DH_theta1 DV_theta1 2 DH_a2 DH_alpha2 DH_d2 DH_theta2 DV_theta2 3 DH_a3 DH_alpha3 DH_d3 DH_theta3 DV_theta3 4 DH_a4 DH_alpha4 DH_d4 DH_theta4 DV_theta4 5 DH_a5 DH_alpha5 DH_d5 DH_theta5 DV_theta5 6 DH_a6 DH_alpha6 DH_d6 DH_theta6 DV_theta6 7 DH_a7 DH_alpha7 DH_d7 DH_theta7 DV_theta7

[0097] The first four columns of DH parameter design variables in Table 3 are assigned values ​​according to the DH coordinates in Table 1. The last column of initial boom angle design variables in Table 3 are all assigned a value of 0, indicating that the current state is a zero boom.

[0098] Based on the improved DH coordinate corresponding design variables and the recursive relationship between the links of the robotic arm, the modeling elements in the ADAMS dynamic model of the robotic arm are parametrically modeled using the modeling functions LOC_RELATIVE_TO and ORI_RELATIVE_TO.

[0099] Assume that in ADAMS, the link coordinate system {i} is named MARKER_i and the link coordinate system {i-1} is named MARKER_b;

[0100] The position and attitude parameters of the link coordinate system {i} are recursively derived from the link coordinate system {i-1} as follows:

[0101] Location parameter: LOC_RELATIVE_TO({a i ,-d i sα i ,d i cα i},MARKER_b)

[0102] Orientation parameter: ORI_RELATIVE_TO({0,α) i ,θ i},MARKER_b);

[0103] The position and attitude parameters of the first cylindrical profile reference coordinate system of link i are recursively derived from the link coordinate system {i-1} as follows:

[0104] Location parameter: LOC_RELATIVE_TO({0,0,0},MARKER_b)

[0105] Orientation parameter: ORI_RELATIVE_TO({90,90,α) i},MARKER_b)

[0106] The length of the first cylindrical profile is a. i The radius can be any value and is independent of the DH coordinate; here we take 70mm.

[0107] The position and attitude parameters of the second cylindrical profile reference coordinate system of link i are recursively derived from the link coordinate system {i-1} as follows:

[0108] Location parameter: LOC_RELATIVE_TO({a i ,0,0},MARKER_b)

[0109] Orientation parameter: ORI_RELATIVE_TO({0,α) i ,θ i},MARKER_b)

[0110] The length of the second cylindrical profile is d. i The radius can be any value and is independent of the DH coordinate; here we take 70mm.

[0111] The position and attitude parameters of the reference coordinate system for the revolute joint between link i-1 and link i are recursively derived from the link coordinate system {i-1} as follows:

[0112] Location parameter: LOC_RELATIVE_TO({a i ,0,0},MARKER_b)

[0113] Orientation parameter: ORI_RELATIVE_TO({0,α) i ,θ i},MARKER_b);

[0114] The position and attitude parameters of the force reference coordinate system between link i-1 and link i are recursively derived from the link coordinate system {i-1} as follows:

[0115] Location parameter: LOC_RELATIVE_TO({a i ,0,0},MARKER_b)

[0116] Orientation parameter: ORI_RELATIVE_TO({0,α)i ,θ i},MARKER_b).

[0117] Specifically, taking the parametric modeling of the link coordinate system {1} as an example, assuming that the name of the link coordinate system {0} in ADAMS is MARKER_DH0 and the name of the link coordinate system {1} is MARKER_DH1, the format for recursively deriving the position and attitude parameters of MARKER_DH1 from MARKER_DH0 is as follows:

[0118] Location parameter: LOC_RELATIVE_TO({a1,-d1sα1,d1cα1},MARKER_DH0)

[0119] Orientation parameter: ORI_RELATIVE_TO({0,α1,θ1},MARKER_DH0);

[0120] Substituting the five design variables from the first row of Table 3 into the above format, we obtain the specific location and attitude parameters of MARKER_DH1 in ADAMS as follows:

[0121] Location parameter:

[0122] (LOC_RELATIVE_TO({DH_a1,-DH_d1*SIN(DH_alpha1),DH_d1*COS(DH_alpha1)},MARKER_DH0))

[0123] Orientation parameters:

[0124] (ORI_RELATIVE_TO({0.0,DH_alpha1,DH_theta1+DV_theta1},MARKER_DH0));

[0125] The parametric modeling process for other model elements such as link coordinate system, geometry, kinematic pairs, and driving force is the same. Simply replace the corresponding design variables and coordinate system names in Table 3 according to the recursive formula.

[0126] It is particularly important to note that when using design variables for attitude parameterization, the θ term of the DH coordinates should be summed with the θ term of the initial arm angle, and the result should be expressed as DH_θ. i +DV_θ i Replace θ in the Orientation parameter i .

[0127] Based on the dynamic parameters in Table 1, modify the mass characteristics of the ADAMS dynamic model of the robotic arm.

[0128] After completing the above steps, the parameterized ADAMS dynamic model of the simplified cylindrical profile feature of the robotic arm is shown in Figure 3.

[0129] Using cylindrical geometry to characterize the external contour of a robotic arm link can meet general application needs. However, for more specialized cases, such as robotic arms with irregular external features like protruding cables, coverings, control boxes, or end-effector cameras, or those designed for complex environments, where the robotic arm may experience self-interference or collisions with its working environment, it's necessary to further consider more refined geometric features. This requires importing a detailed 3D model of the robotic arm and establishing parametric relationships between the 3D geometry. The specific implementation steps are as follows:

[0130] Use CAD software such as ProE and Solidworks to create a 3D model of the robotic arm containing fine features;

[0131] Adjust the arm shape of the 3D model of the robotic arm to match the arm shape in the ADAMS model of the robotic arm;

[0132] Import the 3D model of the robotic arm into the ADAMS model of the robotic arm, and move it to match the state of the already built robotic arm model;

[0133] Modify the hierarchical relationships of each 3D geometry and merge each 3D geometry into the corresponding link parts of the existing ADAMS dynamic model of the robotic arm;

[0134] For any three-dimensional geometry in link i, first measure the position and orientation of the reference coordinate system of that geometry relative to the link coordinate system {i}, assuming it is [x i y i z i az 1i ax 2i az 3i The position and orientation parameters of the reference coordinate system for this three-dimensional geometry are as follows:

[0135] Location parameter: LOC_RELATIVE_TO({x i ,y i ,z i},MARKER_i)

[0136] Orientation parameter: ORI_RELATIVE_TO({az 1i ,ax 2i ,az 3i},MARKER_i).

[0137] Figure 4 shows the parametric ADAMS dynamic model of the robotic arm with imported fine geometric features. The geometry includes irregular external features such as the robotic arm's protruding cables, coverings, control box, and end-effector camera.

[0138] By modifying the initial arm-shaped angle design variables Figures 3(a) to 3(d) Four different initial arm shape diagrams of the robotic arm are listed. Figures 4(a) to 4(d) Four sets of detailed schematic diagrams of different robotic arm structures are listed. The arm angle sequence is shown in Table 4.

[0139] Table 4 Initial Arm Angle Sequence of Parametric Robotic Arm ADAMS Dynamics Model

[0140]

[0141] Based on Table 1, some parameters were modified to obtain the DH coordinate table shown in Table 5 (the modified data is marked in bold).

[0142] Table 5. Adjusted DH Coordinates of the Robotic Arm

[0143] Serial number <![CDATA[a i (mm)]]> <![CDATA[α i (°)]]> <![CDATA[d i (mm)]]> <![CDATA[θ i (°)]]> 1 0 90 <![CDATA[d1(210)]]> 0 2 0 90 <![CDATA[d2(250)]]> 180 3 0 -90 <![CDATA[d3(240)]]> -90 4 <![CDATA[a4(1000)]]> 0 <![CDATA[d4(-230)]]> 0 5 <![CDATA[a5(2000)]]> 0 <![CDATA[d5(240)]]> 90 6 0 90 <![CDATA[d6(250)]]> 0 7 0 90 <![CDATA[d7(370)]]> 0

[0144] Table 5 describes robotic arm configurations with different link dimensions and joint assembly methods compared to Table 1. Using the DH coordinates in Table 5, the design variables in the existing model are directly modified, eliminating the need for remodeling and resulting in a new robotic arm model, thus achieving model reuse. The ADAMS dynamic model of the simplified cylindrical profile robotic arm under the zero-position arm type described by the two sets of different DH coordinates in Tables 1 and 5 is shown below. Figure 5 .

[0145] As can be seen from the above examples, the method provided by this invention can achieve parametric ADAMS dynamic modeling of a robotic arm without relying on a three-dimensional solid model of the robotic arm, based on DH coordinates. Since the DH method describes the robotic arm and includes information such as link configuration, zero-position angle, and positive joint direction, the parametric ADAMS dynamic model of the robotic arm established based on DH coordinates also has a very clear physical meaning. By modifying the initial arm shape angle design variables, the initial state of the robotic arm can be easily adjusted, and model elements such as coordinate system, geometry, kinematic pairs, and driving force can all be automatically adjusted accordingly, achieving a "one-size-fits-all" effect. By updating the design variables of the robotic arm's DH coordinates, the size of the robotic arm links, the assembly method of the joints, and the topology can be directly changed. Under the condition of the same number of degrees of freedom, the robotic arm dynamic model can be reused, reducing the development cost of repeated modeling, and is easy to implement with significant results.

[0146] This application embodiment also provides a parametric robotic arm ADAMS dynamic modeling device, which may include a processor and a memory.

[0147] Memory is used to store programs. Memory can include volatile memory, such as random-access memory (RAM), including static random-access memory (SRAM) and double data rate synchronous dynamic random-access memory (DDR SDRAM); it can also include non-volatile memory, such as flash memory. Memory is used to store computer programs (such as application programs and functional modules that implement the above methods), computer instructions, etc., which can be partitioned and stored in one or more memory locations. Furthermore, these computer programs, instructions, and data can be accessed by the processor.

[0148] The aforementioned computer programs, computer instructions, etc., can be stored in partitions within one or more memory locations. Furthermore, the aforementioned computer programs, computer instructions, data, etc., can be accessed by a processor.

[0149] A processor is used to execute a computer program stored in memory to implement the various steps in the methods described in the above embodiments.

[0150] For details, please refer to the relevant descriptions in the preceding method embodiments.

[0151] The processor and memory can be separate structures or integrated structures. When the processor and memory are separate structures, they can be coupled together via a bus.

[0152] The parametric robotic arm ADAMS dynamic modeling device in this embodiment can execute the technical solutions in the above method. For the specific implementation process and technical principles, please refer to the relevant descriptions in the above method, which will not be repeated here.

[0153] Those skilled in the art will understand that various aspects of the present invention can be implemented as systems, methods, or program products. Therefore, various aspects of the present invention can be specifically implemented in the following forms: a completely hardware implementation, a completely software implementation (including firmware, microcode, etc.), or a combination of hardware and software aspects, collectively referred to herein as a "circuit," "module," or "platform."

[0154] Furthermore, embodiments of this application also provide a computer-readable storage medium storing computer-executable instructions, wherein when at least one processor of a user device executes the computer-executable instructions, the user device performs the various possible methods described above.

[0155] Computer-readable media include computer storage media and communication media, wherein communication media include any medium that facilitates the transfer of computer programs from one place to another. Storage media can be any available medium accessible to a general-purpose or special-purpose computer. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Alternatively, the ASIC can reside in a user device. Of course, the processor and storage medium can also exist as discrete components in a communication device.

[0156] This application also provides a program product including a computer program stored in a readable storage medium. At least one processor of the server can read the computer program from the readable storage medium, and the at least one processor executes the computer program to cause the server to implement any of the methods described in the embodiments of the present invention.

[0157] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0158] It can employ a portable compact disc read-only memory (CD-ROM) and include program code, and can run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0159] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0160] Computer-readable storage media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable storage medium may also be any readable medium other than a readable storage medium that can transmit, propagate, or transfer a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0161] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0162] The various embodiments described in this specification are presented in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0163] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A parametric robotic arm ADAMS dynamics modeling method, characterized in that, include: Step 1: Obtain the DH coordinates and dynamic parameters required for robotic arm modeling; Step 2: Calculate the recursive relationship between the links of the robotic arm based on the DH coordinates, wherein the DH coordinates are modified DH coordinates; Step 2 includes: Describe the coordinate systems of adjacent links using the improved DH coordinate rule. and The pose relationships between them are as follows: In the formula: Indicates from the link coordinate system arrive The homogeneous transformation matrix, where c represents cosine and s represents sinine. Indicates from From the origin of the coordinate system to shaft and The intersection of the axes along The offset distance of the axis. Indicates from shaft and The intersection of the axes to The origin of the coordinate system along Distance between axes Indicates circling Shaft Axle Steering Angle of axis Indicates circling Shaft Axle Steering The joint angle of the shaft; The attitude and position parts are respectively represented as In the formula ; Indicates from the link coordinate system arrive The attitude transformation matrix, Represents the link coordinate system Compared to The position vector; Based on the inverse transformation relationship between the attitude matrix and Euler angles, by The attitude vector is calculated. as follows: Attitude vector Euler angles in zxz order are used; Step 3: Based on the DH coordinates, establish the design variables for the ADAMS dynamic model of the robotic arm; Step 4: Based on the design variables corresponding to the DH coordinates and the recursive relationship between the links of the robotic arm, describe the modeling elements in the ADAMS dynamic model of the robotic arm, wherein the modeling elements include: coordinate system, geometry, kinematic pairs, and driving force; Step 5: Modify the mass characteristics of the ADAMS dynamic model of the robotic arm according to the dynamic parameters.

2. The parametric robotic arm ADAMS dynamics modeling method according to claim 1, characterized in that, Step 4 includes: Step 4.1: In the ADAMS dynamic model of the robotic arm, the position of the coordinate system is determined by the Location parameter, and the attitude is determined by the Orientation parameter. The modeling functions LOC_RELATIVE_TO and ORI_RELATIVE_TO are used to implement parametric modeling of the position and attitude between the two coordinate systems. (ADAMS link coordinate system) The name is MARKER_i, the link coordinate system. The name is MARKER_b; By link coordinate system Recursive Link Coordinate System The position and attitude parameters are as follows: Location parameter: Orientation parameters: ; Step 4.2: For each link of the robotic arm, use two cylindrical geometric features to illustrate the link profile. The geometric features in the ADAMS dynamic model of the robotic arm have their positions and orientations determined by the reference coordinate system. By link coordinate system Recursive Link The position and orientation parameters of the first cylindrical profile reference coordinate system are as follows: Location parameter: Orientation parameters: The length of the first cylindrical profile is The radius can take any value and is independent of the DH coordinate. By link coordinate system Recursive Link The position and orientation parameters of the second cylindrical profile reference coordinate system are as follows: Location parameter: Orientation parameters: The length of the second cylindrical profile is The radius can take any value and is independent of the DH coordinate. Step 4.3: The kinematic pairs in the ADAMS dynamic model of the robotic arm are determined by two reference coordinate systems belonging to adjacent links, and the kinematic pairs between adjacent links are revolute pairs, defined by the link coordinate systems. Recursive Link With connecting rod The position and attitude parameters of the reference coordinate system of the rotating joint are as follows: Location parameter: Orientation parameters: ; Step 4.4: The forces in the ADAMS dynamic model of the robotic arm are determined by two reference coordinate systems belonging to adjacent links, which define their positions and attitudes. The force type between adjacent links is torque, determined by the link coordinate system. Recursive Link With connecting rod The position and attitude parameters of the force reference coordinate system are as follows: Location parameter: Orientation parameters: .

3. The parametric robotic arm ADAMS dynamics modeling method according to claim 1, characterized in that, Step 5 includes: Step 5.1: Modify the position and attitude parameters of the center of mass of each link according to the center of mass data in the dynamic parameters; By link coordinate system Recursive Link The position and attitude parameters of the centroid coordinate system are as follows: Location parameter: ; Orientation parameters: ; in They are connecting rods Center of mass in link coordinate system The x, y, and z axis position coordinates in the ADAMS link coordinate system. The name is MARKER_i; where the link The center-of-mass system is generally different from the link coordinate system. Consistent in direction; Step 5.2: Modify the mass and inertia parameters of each link according to the mass and inertia data in the dynamic parameters.

4. The parametric robotic arm ADAMS dynamics modeling method according to any one of claims 1-3, characterized in that, It also includes step 6: Import the 3D model of the robotic arm and establish parametric associations for the 3D geometry.

5. The parametric robotic arm ADAMS dynamics modeling method according to claim 4, characterized in that, Step 6 includes: Use CAD software to create a 3D model of the robotic arm containing detailed features; Adjust the arm shape of the 3D model of the robotic arm to keep it consistent with the arm shape in the ADAMS model of the robotic arm; Import the 3D model of the robotic arm into the ADAMS model of the robotic arm, and make it coincide with the state of the already built robotic arm model; Modify the hierarchical relationships of each 3D geometry and merge each 3D geometry into the corresponding link parts of the existing ADAMS dynamic model of the robotic arm; For the link For any three-dimensional geometry, first measure the reference coordinate system of that geometry relative to the link coordinate system. The position and orientation, assuming to be ,in: These respectively represent the reference coordinate system of the geometry in the link coordinate system. The x-axis, y-axis, and z-axis position coordinates are shown below. These represent the reference coordinate system of the geometry relative to the link coordinate system. Euler angles in zxz order; The position and orientation parameters of the reference coordinate system for this three-dimensional geometry are as follows: Location parameter: Orientation parameters: Among them, the link coordinate system in ADAMS Its name is MARKER_i.

6. A parametric robotic arm ADAMS dynamics modeling device, characterized in that, include: A processor and a memory, wherein the memory stores executable program instructions, and when the processor invokes the program instructions in the memory, the processor is used to: The steps of performing the parametric robotic arm ADAMS dynamic modeling method according to any one of claims 1 to 5.

7. A computer-readable storage medium for storing a program, characterized in that, When the program is executed, it implements the steps of the parametric robotic arm ADAMS dynamic modeling method according to any one of claims 1 to 5.

Images