Model simulation method and device of sewing robot, and storage medium

Abstract

The specification is a model simulation method, device and storage medium of a sewing robot. The model simulation method comprises the following steps: obtaining an initial assembly model of the sewing robot, and importing a dynamics simulation software; defining simulation parameters based on the initial assembly model in the dynamics simulation software to obtain a multi-body dynamics model of the sewing robot; adjusting a rigid foot cup base of the multi-body dynamics model to a flexible grid foot cup base; defining a surface geometric contact constraint between the flexible grid foot cup base and a simulated ground, defining an elastic bushing connection relationship between the flexible grid foot cup base, a connecting rod and a robot chassis, and obtaining a rigid-flexible coupling model of the sewing robot; applying a periodic excitation signal to a driving joint of a mechanical arm and a driving joint of a waist of the rigid-flexible coupling model, and performing dynamics simulation on the rigid-flexible coupling model; and obtaining simulation result information of the flexible grid foot cup base under the action of the periodic excitation signal.

Description

Technical Field

[0001] This specification relates to the field of sewing robot technology, and in particular to a model simulation method, device and storage medium for a sewing robot. Background Technology

[0002] Currently, with the revolution of robotics, sewing robots applied to the garment manufacturing industry have emerged. However, during the sewing process, sewing robots need to continuously perform actions and reset themselves in different sewing processes, such as simulating bending over, folding fabric, pressing fabric, picking up and feeding materials, and resetting themselves after completing each action.

[0003] During the repositioning process, sewing robots are prone to positional shifts due to inertia, leading to skewed stitches or even tipping over. Therefore, simulation results of sewing robot models during the R&D phase become a crucial basis for optimizing the robot's motion parameters. Summary of the Invention

[0004] This specification provides a model simulation method, device, and storage medium for a sewing robot to address the shortcomings in related technologies.

[0005] According to a first aspect of the embodiments of this specification, a model simulation method for a sewing robot is provided, comprising: Obtain the initial assembly model of the sewing robot and import it into the dynamics simulation software; In the dynamics simulation software, simulation parameters are defined based on the initial assembly model to obtain the multibody dynamics model of the sewing robot. The simulation parameters include environmental parameters, kinematic pairs, and fixed pairs. The rigid foot cup base of the multibody dynamics model is adjusted to a flexible mesh foot cup base; Define the surface geometric contact constraints between the flexible mesh foot cup base and the simulated ground, define the elastic bushing connection relationship between the flexible mesh foot cup base and the connecting rod, and between the connecting rod and the robot chassis, to obtain the rigid-flexible coupling model of the sewing robot; Periodic excitation signals are applied to the drive joints of the robotic arm and the drive joints of the waist in the rigid-flexible coupling model to perform dynamic simulation of the rigid-flexible coupling model; The simulation results of the flexible mesh foot cup base under the action of the periodic excitation signal are obtained.

[0006] Optionally, adjusting the rigid foot cup base of the multibody dynamics model to a flexible mesh foot cup base includes: The flexible mesh foot cup base is obtained by performing flexible 3D mesh generation on the foot cup base in the mesh generation software. Export the intermediate file of the flexible mesh foot cup base; The intermediate file of the flexible mesh foot cup base is imported into the dynamics simulation software to replace the rigid foot cup base in the multibody dynamics model, thus obtaining a rigid-flexible coupling model.

[0007] Optionally, the definition of the surface geometric contact constraints between the flexible mesh foot cup base and the simulated ground includes: Obtain the first set of grid nodes in contact between the flexible mesh foot cup base and the simulated ground; The contact type between the first set of mesh nodes and the simulated ground is defined using surface geometric contact. The normal contact stiffness between the first set of mesh nodes and the simulated ground is set based on the immersion boundary formula; Set the static friction coefficient and dynamic friction coefficient between the first set of grid nodes and the simulated ground.

[0008] Optionally, defining the elastic bushing connection relationship between the flexible mesh foot cup base and the connecting rod, and between the connecting rod and the robot chassis includes: Obtain the set of second grid nodes that are in contact with the connecting rod of the flexible mesh foot cup base; Define the elastic bushing connection relationship between the second set of grid nodes and the connecting rod; The contact stiffness and damping coefficient of the elastic bushing connection relationship are set in each of the six degrees of freedom directions.

[0009] Optionally, applying periodic excitation signals to the drive joints of the robotic arm and the drive joints of the waist in the rigid-flexible coupling model includes: A periodic excitation signal is generated based on the combined expression of the step function and the modulus function. The periodic excitation signal has a period duration equal to the action cycle duration of the sewing operation. The periodic excitation signal is used to drive at least one drive joint of the rigid-flexible coupling model to complete one action cycle along a predefined time axis. Periodic excitation signals are applied to the drive joints of the robotic arm and the drive joints of the waist in the rigid-flexible coupling model to perform motion simulation.

[0010] Optionally, the step of defining simulation parameters based on the initial assembly model in the dynamics simulation software to obtain the multibody dynamics model of the sewing robot includes: Define the direction of gravity; Define the fixed constraints of the simulated ground; The shell components of the initial assembly model are divided into multiple independent assemblies according to the region, and each independent assembly is connected to the corresponding internal truss structure with a fixed joint. Define the revolute joints of the drive joints of the robotic arm; Define the revolute joint of the drive joint in the waist.

[0011] Optional, also includes: After the dynamic simulation is completed, the displacement cloud map and stress cloud map of the flexible mesh foot cup base are displayed through the post-processing module; Extract the maximum resultant displacement of the flexible mesh foot cup base from the displacement cloud map; The stability of the rigid-flexible coupling model is evaluated by comparing the maximum resultant displacement with the safe displacement threshold. Based on the stress cloud diagram, obtain the equivalent stress distribution information of the flexible mesh foot cup base; Based on the equivalent stress distribution information, the structural strength of the flexible mesh foot cup base under dynamic load is evaluated.

[0012] Optional, also includes: A virtual tracking body is created outside the rigid-flexible coupling model, and the mass of the virtual tracking body is much smaller than the total mass of the rigid-flexible coupling model. Construct displacement expressions for the virtual tracking body in the three translational degrees of freedom of the X-axis, Y-axis, and Z-axis. The displacement expression is the sum of the products of the mass of each component of the rigid-flexible coupling model and the coordinate values ​​of its center of mass in the corresponding coordinate axis direction, divided by the total mass. The three displacement expressions are respectively assigned translational degree-of-freedom constraints to the virtual tracking body; By tracking the motion trajectory of the virtual tracking object, the path of the center of gravity change of the rigid-flexible coupling model can be obtained.

[0013] Optionally, before adjusting the rigid foot cup base of the multibody dynamics model to a flexible mesh foot cup base, the following is also included: Define the surface geometric contact constraints between the rigid foot cup base and the simulated ground in the multibody dynamics model; define the elastic bushing connection relationship between the rigid foot cup base and the connecting rod, and between the connecting rod and the robot chassis; Periodic excitation signals are applied to the drive joints of the robotic arm and the drive joints of the waist in the multibody dynamics model to perform pre-simulation analysis; When the pre-simulation analysis meets the requirements within the preset simulation time, the rigid foot cup base of the multibody dynamics model is adjusted to a flexible mesh foot cup base; If the pre-simulation analysis does not meet the requirements within the preset simulation time, the simulation parameters in the dynamic simulation software are adjusted until the pre-simulation analysis meets the requirements within the preset simulation time.

[0014] According to a second aspect of the embodiments of this specification, a model simulation device for a sewing robot is provided, comprising: The first acquisition module acquires the initial assembly model of the sewing robot and imports it into the dynamics simulation software; The model definition module defines simulation parameters in the dynamics simulation software based on the initial assembly model to obtain the multibody dynamics model of the sewing robot. The simulation parameters include environmental parameters, kinematic pairs, and fixed pairs. The rigid-flexible modeling module adjusts the rigid foot cup base of the multibody dynamics model into a flexible mesh foot cup base; The contact definition module defines the surface geometric contact constraints between the flexible mesh foot cup base and the simulated ground, and defines the elastic bushing connection relationship between the flexible mesh foot cup base and the connecting rod, and between the connecting rod and the robot chassis, to obtain the rigid-flexible coupling model of the sewing robot. The simulation module applies periodic excitation signals to the drive joints of the robotic arm and the drive joints of the waist in the rigid-flexible coupling model to perform dynamic simulation of the rigid-flexible coupling model. The second acquisition module acquires the simulation result information of the flexible mesh foot cup base under the action of the periodic excitation signal.

[0015] According to a third aspect of the embodiments of this specification, a computer-readable storage medium is provided that stores computer instructions thereon, which, when executed by a processor, implement the steps of any of the aforementioned model simulation methods.

[0016] According to a fourth aspect of the embodiments of this specification, a computer program product is provided, including a computer program and / or instructions, which, when executed by a processor, implement the steps of any of the model simulation methods described above.

[0017] The technical solutions provided in the embodiments of this specification may include the following beneficial effects: As can be seen from the above embodiments, by using the flexible mesh base obtained from the flexible mesh division of the foot cup base in this specification, and replacing the rigid foot cup base in the dynamic simulation software, the mechanical performance of the sewing robot under complex working conditions such as fabric picking, feeding and sewing can be evaluated more accurately by controlling the drive joints of the robotic arm and waist of the rigid-flexible coupling model. This simulation method can provide effective data support for the lightweight design of sewing robots. By simulating actual sewing operations and collecting the slippage of the foot cup base caused by the force transmission of the robotic arm, the stability of the sewing robot can be evaluated, which helps to improve the anti-tipping ability of the sewing robot under complex load conditions, thereby effectively improving the overall design quality of the sewing robot, avoiding execution risks, and shortening the product development cycle. Attached Figure Description

[0018] Figure 1This is a flowchart illustrating a model simulation method for a sewing robot, as disclosed in an exemplary embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of a multibody dynamics model of a sewing robot, as disclosed in an exemplary embodiment of the present invention.

[0020] Figure 3 yes Figure 2 Another perspective on the multibody dynamics model.

[0021] Figure 4 This is a schematic diagram of a rigid foot cup assembly in a multibody dynamics model of a sewing robot, as disclosed in an exemplary embodiment of the present invention.

[0022] Figure 5 This is a schematic diagram of the rotating joint of the robotic arm in a multibody dynamics model of a sewing robot, as shown in an exemplary embodiment of the present invention.

[0023] Figure 6 This is a schematic diagram of the rotational joint at the waist of a sewing robot in a multibody dynamics model, as shown in an exemplary embodiment of the present invention.

[0024] Figure 7 This is a schematic diagram of a rigid-flexible coupling model of a sewing robot, as disclosed in an exemplary embodiment of the present invention.

[0025] Figure 8 This is a schematic diagram of a flexible mesh foot cup base shown in an exemplary embodiment of the present invention.

[0026] Figure 9 This is a schematic diagram of the combined displacement of the base of the flexible mesh foot cup after simulation of the rigid-flexible coupling model, as shown in the exemplary embodiments disclosed in this invention.

[0027] Figure 10 This is a schematic diagram illustrating the relative positional relationship between a rigid-flexible coupling model and a virtual tracking body, as shown in an exemplary embodiment of the present invention.

[0028] Figure 11 This is a diagram showing the trajectory of the center of gravity change of a rigid-flexible coupling model based on virtual tracking volume capture, as illustrated in an exemplary embodiment of the present invention.

[0029] Figure 12 This is an exemplary embodiment of the present invention, showing the centroid offset curve of a rigid-flexible coupling model obtained on the X-axis based on a virtual tracking body.

[0030] Figure 13 This is an exemplary embodiment of the present invention, showing the centroid offset curve of a rigid-flexible coupling model obtained on the Y-axis based on a virtual tracking body.

[0031] Figure 14 This is an exemplary embodiment of the present invention, showing the centroid offset curve of a rigid-flexible coupling model obtained on the Z-axis based on a virtual tracking body.

[0032] Figure 15 This is a flowchart illustrating another model simulation method for a sewing robot, as disclosed in an exemplary embodiment of the present invention.

[0033] Figure 16 This is a schematic diagram of a model simulation device for another sewing robot as shown in an exemplary embodiment of the present invention.

[0034] Figure 17 This is a schematic diagram of a computer device structure shown as an exemplary embodiment of the present invention. Detailed Implementation

[0035] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this specification. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this specification as detailed in the appended claims.

[0036] The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of this specification. The singular forms “a,” “the,” and “the” as used in this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0037] It should be understood that although the terms first, second, third, etc., may be used in this specification to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this specification, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0038] Currently, wheeled sewing robots are widely used in the garment manufacturing industry. These wheeled sewing robots typically include casters and feet. The casters enable the sewing robot to move by rolling, while the feet support the robot and keep it firmly planted on the ground during operation.

[0039] It is understandable that during the operation phase, if the sewing robot shifts or tipps over due to the inertia of resetting, the motion will be directly transmitted to the end effector, leading to problems such as skewing stitches or even needle detachment. Therefore, during the operation phase, simulation results of the sewing robot's feet can greatly evaluate the stability of the current model, and the model parameters can be adjusted and optimized based on the simulation results.

[0040] To facilitate understanding of the embodiments of the present invention, the application scenario of the model simulation method for a sewing robot disclosed in the embodiments of the present invention will first be introduced. The execution subject of the model simulation method for a sewing robot provided in the embodiments of the present invention can be a computer device, such as a robot, server, terminal device, etc. In some possible implementations, the robot control method can be implemented by a processor calling computer-readable instructions stored in memory.

[0041] like Figure 1 As shown, Figure 1 This is a flowchart illustrating a model simulation method for a sewing robot according to an exemplary embodiment of the present invention. Figure 1 As shown, the simulation method of this model includes the following steps: In step 101, the initial assembly model of the sewing robot is obtained and imported into the dynamics simulation software.

[0042] In this embodiment, an initial assembly model of the sewing robot can be constructed first using 3D software, such as... Figure 2 and Figure 3 As shown, the initial assembly model may include a body 100 and a foot cup assembly 200. The body 100 includes a robot chassis, such as... Figure 4 As shown, the foot cup assembly 200 may include a foot cup base 1 and a connecting rod 2, which connects the foot cup base 1 and the robot chassis. It can be understood that in this initial assembly model, the foot cup base 1 is a rigid foot cup base. The robot body 100 may include an upper limb portion 3 and a lower limb portion 4, which are connected by a drive joint 5 located at the waist. The robot chassis is located on the lower limb portion 4 and connected to the connecting rod 2 of the foot cup assembly 200. The upper limb portion 3 includes a robotic arm 31 and an upper limb body 32, which is connected to the robotic arm 31 via a shoulder drive joint. The robotic arm 31 also has an elbow joint and a wrist joint.

[0043] After completing the initial assembly model modeling, preprocessing can be performed to simplify the model and reduce the amount of computation in later stages. This preprocessing can include appropriately removing parts and structural features that do not affect the overall mass of the initial assembly model. For example, bolts, screws, pins, strips, and other auxiliary components can be appropriately removed, as can small features such as holes and wiring. This preprocessing can also include merging components that do not participate in structural stress to convert them into concentrated masses. For instance, electrical components, control components, drivers, circuit boards, etc., within the initial assembly model can be merged into a single solid part, and further, non-load-bearing geometric features such as connector interfaces on the merged part can be deleted.

[0044] In this step, a zero-position datum can also be established for the initial assembly model, so that subsequent models can all perform periodic movements based on this zero-position datum. For example, such as Figure 2 and Figure 3 As shown, the zero-position reference can be the posture of the robotic arm 31 vertically downward and the drive joint 5 of the waist adjusted so that the initial assembly model is in an upright state of about 180°. Furthermore, the working conditions of the initial assembly model can be set. For example, the casters of the lower limb part 4 can be defined as being in a raised state, and the foot cup assembly 200 can be fixed to the simulated ground. That is, it is ensured that the casters are not subject to the reaction force of the simulated ground, and the initial assembly model is supported on the ground only by the foot cup assembly 200, thereby simulating the support state of a conventional sewing robot when performing sewing operations.

[0045] After completing the above steps, the initial assembly file can be saved in the target format for later import into dynamics simulation software. For example, it can be saved as a STEP214 format file.

[0046] In step 102, the multibody dynamics model of the sewing robot is obtained by defining simulation parameters based on the initial assembly model in the dynamics simulation software. The simulation parameters include environmental parameters, kinematic pairs, and fixed pairs.

[0047] In this embodiment, the file saved as the target format in the aforementioned steps is imported into the dynamic simulation software, and defined in the dynamic simulation software based on the initial assembly model.

[0048] For example, defining environmental parameters can be understood as environmental characteristics unrelated to the connection and contact between the initial assembly model and its own structure. For instance, in dynamic simulation software, the direction of gravity can be defined, that is, setting a vertically downward gravitational force for the initial assembly model. In this dynamic simulation software, it is also necessary to define the fixed constraints of the simulated ground, that is, to fix the simulated ground.

[0049] Furthermore, for the components imported into the initial assembly model in the dynamics simulation software, it is necessary to define connection relationships, contact relationships, etc. For example, the kinematic pairs of multiple drive joints in the robotic arm 31 can be defined as revolute joints, such as... Figure 5 As shown, the revolute joint 02 between the shoulder joint base of the robotic arm 31 and the upper limb body 32 can be defined; the revolute joints 03 and 04 between the upper arm and the shoulder joint base can be defined; the revolute joint 05 between the upper arm and the forearm can be defined; and the forearm revolute joint 06 can be defined. The ball joint 07 between the end effector of the robotic arm 31, i.e., the forearm end, and the needle holder can also be defined. For example, as... Figure 6 As shown, the revolute joint 01 of the driving joint in the waist can be defined. In the multibody dynamics model later learned, a total of 10 revolute joints are defined in the left and right arms. Combining the revolute joint 01 of the driving joint in the waist, the multibody dynamics model has a total of 11 revolute joints and 2 ball joints.

[0050] In some embodiments, fixed joints can be defined to define the fixed connections between components of the initial assembly model. For example, since all shell components are made of the same plastic material, the shell components of the initial assembly model can be divided into multiple independent merged bodies according to regions, and each independent merged body is connected to the internal truss structure of the initial assembly model by fixed joints. For example, the shell components can be divided into upper limb merged bodies, waist merged bodies, and lower limb merged bodies according to regions. The upper limb merged body can merge the neck shell and the upper body shell, the waist shell is a separate merged body, and the lower limb merged body can merge all the shells below the waist.

[0051] Subsequently, the upper limb merging assembly is connected to the internal truss of the upper limb section using fixed joints, the waist merging assembly is connected to the internal truss of the waist section using fixed joints, and the lower limb merging assembly is connected to the internal truss of the lower limb section using fixed joints. For the internal trusses, since they are all made of the same metal material, trusses that do not require movement or force transmission and simply serve a supporting function can be combined. For example, they can be combined using the Merge command or connected sequentially using fixed joints to reduce the computational load.

[0052] Furthermore, electrical components can be connected to the corresponding truss or shell using fixed pairs to provide basic physical mass while reducing computational load. Based on the above merging and constraint application, a multibody dynamics model is obtained, which can include 46 fixed pairs.

[0053] In step 103, the rigid foot cup base of the multibody dynamics model is adjusted to a flexible mesh foot cup base.

[0054] In this embodiment, the initial assembly model can be imported into mesh generation software, and flexible mesh generation can be performed on the foot cup base 1 of the foot cup assembly 200 based on the mesh generation software to obtain a flexible mesh foot cup base. After mesh generation is completed, the model can be imported into dynamic simulation software, such as... Figure 7 As shown, the rigid foot cup base of the multibody dynamics model in the dynamics simulation software is adjusted to a flexible mesh foot cup base, thereby obtaining the rigid-flexible coupling model of the sewing robot.

[0055] One approach is to use tetrahedral mesh elements to generate a flexible mesh base for the foot cup. After meshing, the mesh is exported in a format recognizable by the dynamics simulation software. The flexible mesh base is then imported into the software and used to replace the rigid base in the multibody dynamics model, resulting in a rigid-flexible coupling model of the sewing robot. Alternatively, in other embodiments, the meshing module within the dynamics simulation software can be used to automatically generate a tetrahedral mesh base for the flexible mesh. Direct meshing within the software significantly improves simulation efficiency.

[0056] In step 104, the surface geometric contact constraints between the flexible mesh foot cup base and the simulated ground are defined, and the elastic bushing connection relationship between the flexible mesh foot cup base and the connecting rod, and between the connecting rod and the robot chassis is defined, thus obtaining the rigid-flexible coupling model of the sewing robot.

[0057] In this embodiment, the contact constraints between the flexible mesh foot cup base and the simulated ground are defined based on the flexible mesh foot cup base.

[0058] In some embodiments, such as Figure 8 As shown, in the dynamics simulation software, after the flexible mesh foot cup base replaces the rigid foot cup base in the multibody dynamics model, the contact position between the flexible mesh foot cup base and the simulated ground is determined, as is the contact position between the flexible mesh foot cup base and the connecting rod 2. Therefore, the first set of mesh nodes (SetPatch 1) in contact with the flexible mesh foot cup base and the simulated ground, and the second set of mesh nodes (SetPatch 2) between the flexible mesh foot cup base and the connecting rod can be selected to provide contact objects for the subsequent definition of contact constraints.

[0059] Furthermore, a surface geometric contact is used to define the contact type between the first set of mesh nodes and the simulated ground. The normal contact stiffness between this first set of mesh nodes and the simulated ground is set based on the immersion boundary formula. This allows for the calculation of contact force by detecting the penetration depth between the simulated ground and the flexible mesh foot cup base, and also helps to capture the slippage of the flexible mesh foot cup base relative to the simulated ground during the cyclic motion of the robotic arm 31. Of course, the normal contact stiffness can be adjusted according to actual working conditions. For example, the normal contact stiffness can be 5 × 10⁻⁶. 4 N / mm. Furthermore, the static friction coefficient and dynamic friction coefficient between the first set of grid nodes and the simulated ground are set; for example, the static friction coefficient can be 0.6 and the dynamic friction coefficient can be 0.4.

[0060] In some embodiments, regarding the definition of the elastic bushing connection between the flexible mesh foot cup base and the connecting rod 2, the elastic bushing connection relationship between the second mesh node set and the connecting rod 2 can be defined, and the contact stiffness and damping coefficient of the elastic bushing connection relationship can be set in the six degrees of freedom directions respectively. Alternatively, a second mesh node set can be selected on the flexible mesh foot cup base, and a corresponding third mesh node set can be selected at the corresponding position on the connecting rod 2 where it contacts the flexible mesh foot cup base. Then, an FDR (Force Distributing Rigid) can be created to rigidly couple the corresponding mesh nodes in the second mesh node set and the third mesh node set.

[0061] Elastic bushing connections can also be defined between other redundant contact components within this rigid-flexible coupling model. For example, an elastic bushing connection can be used to define the connection between connecting rod 2 and the robot chassis, and the contact stiffness and damping coefficients of the elastic bushing connection can be set in each of the six degrees of freedom. Here, redundant contact components refer to all parts that are in an assembled state and maintained connected, except for the contact between the flexible mesh foot cup base and the simulated ground. The six degrees of freedom can include three translational degrees of freedom and three rotational degrees of freedom in three dimensions, corresponding to the linear displacement stiffness and damping of connecting rod 2 relative to the robot chassis and the flexible mesh foot cup base in three dimensions, and the three angular displacement stiffness and damping around the three-dimensional coordinate axes, respectively. By defining the contact stiffness and damping coefficient for each degree of freedom, differentiated responses at the connection points can be simulated. For example, the contact stiffness can be 10. 5 N / mm.

[0062] Of course, for the rigid-flexible coupling model, material properties can be assigned to each component, such as Young's modulus, Poisson's ratio, and density. The final rigid-flexible coupling model has four sets of contact constraints defined by surface geometry, namely the surface geometry contact constraints between the four flexible mesh foot cup bases of the rigid-flexible coupling model and the simulated ground, and eight sets of elastic bushing connections, namely the elastic bushing connection between each flexible mesh foot cup base and connecting rod 2, and the elastic bushing connection between each connecting rod 2 and the robot chassis.

[0063] In step 105, periodic excitation signals are applied to the drive joints of the rigid-flexible coupling model and the drive joints of the waist to perform dynamic simulation of the rigid-flexible coupling model.

[0064] In dynamic simulation, the proper construction of excitation signals is a prerequisite for ensuring that the simulation results closely approximate actual working conditions. In this embodiment, to simulate the actual working state of the sewing robot, namely the periodic reciprocating motion of the drive joints of the robotic arm 31 and the drive joint 5 of the waist during the sewing operation, a combination of step function and modulus function is used to generate periodic excitation signals. The combination of the two ensures that the start, duration, and termination times of the action can be precisely controlled, and the smoothness of the transition process avoids rigid impacts caused by sudden acceleration changes.

[0065] The periodic excitation signal has a period duration equal to the duration of the sewing operation's motion cycle. This means that each periodic excitation signal can drive the rigid-flexible coupling model of the sewing robot to complete one motion cycle. The combined expression generated based on this combined expression can drive at least one drive joint of the rigid-flexible coupling model to complete one motion cycle along a predefined time axis.

[0066] For example, with a periodic excitation signal period of 2.0 seconds, the rigid-flexible coupling model can complete a cycle within 2.0 seconds. Taking the initial arm-raising phase from the zero-position reference as an example, the expression for the drive joint between the shoulder joint base and the body can be STEP(MOD(TIME,2.0),0,0,0.5,0.2), representing that the robotic arm 3132 raises its arm by 0.2 arcs within 0-0.5 seconds. Based on this, the movements within 0.5-2 seconds can be refined according to the actual movement of the drive joint during the sewing robot's operation. For example, if the drive joint completes three actions—arm raising, feeding, and return—within a periodic excitation signal, then three STEP functions can be defined to act on the drive joint.

[0067] For a rigid-flexible coupling model of a sewing robot containing multiple drive joints, individual combination expressions can be defined and constructed for each drive joint. Drive commands for the same drive joint in different time intervals can be algebraically superimposed using a superposition method to form the complete angular displacement drive curve of that drive joint within a complete motion cycle. Subsequently, the generated periodic excitation signals are applied to the drive joints of the robotic arm 31 and the drive joints of the waist region of the rigid-flexible coupling model, thereby performing motion simulation on the rigid-flexible coupling model.

[0068] To cover the observation requirements of force accumulation effects under multiple cycles, the total simulation time can be set as an integer multiple of the motion cycle period. For example, with a periodic excitation signal period of 2.0 seconds, the total simulation time can be 12 seconds, and the sewing robot executes six motion cycles. By applying this periodic excitation signal, the rigid-flexible coupling model can perform dynamic simulations under dynamic load conditions close to real sewing conditions, providing reliable excitation input for subsequent overall machine stability assessment.

[0069] In step 106, the simulation results of the flexible mesh foot cup base under the action of a periodic excitation signal are obtained.

[0070] In this embodiment, after the total simulation time is over, the simulation result information of the flexible mesh foot cup base responding to the periodic excitation signal can be extracted from the simulation results, and the simulation result information can be used as the performance evaluation basis of the rigid-flexible coupling model of the sewing robot.

[0071] For example, after the dynamic simulation is completed, the displacement cloud map and stress cloud map of the flexible mesh foot cup base can be displayed through the post-processing module to obtain displacement and stress information corresponding to the total simulation time.

[0072] To acquire displacement information, the contour map type can be set to Displacement and the component to Tsum, thus displaying the displacement contour map of the flexible mesh foot cup base throughout the entire simulation time. Based on this displacement contour map, the maximum Tsum displacement of the flexible mesh foot cup base can be obtained, and the location and time of the maximum Tsum displacement can be extracted simultaneously. This maximum Tsum displacement represents the maximum slippage of the flexible mesh foot cup base relative to its initial position under the action of a periodic excitation signal. Therefore, by comparing the maximum Tsum displacement with the safe displacement threshold, the stability of the rigid-flexible coupling model can be evaluated, and it can be determined whether the stitches produced by the solid sewing robot constructed based on this rigid-flexible coupling model meet the requirements.

[0073] With a periodic excitation signal period of 2 seconds and a total simulation duration of 12 seconds, a dynamic simulation was performed on the rigid-flexible coupling model. The displacement of the flexible mesh foot cup base caused by the reciprocating motion of the drive joints of the robotic arm 31 and the waist section was obtained. Figure 9 As shown, the maximum displacement of the flexible mesh foot cup base is concentrated around 0.03 mm, and occurs during the arm retraction phase. Subsequent comparison of this maximum displacement with the safe displacement threshold can evaluate the stability of the rigid-flexible coupling model and provide a reliable theoretical basis for the structural parameters and motion control strategies of the sewing robot.

[0074] To acquire stress information, the contour map type can be set to Stress, and the components can be set to von Mises equivalent stress (SMISES), thus displaying the stress contour map of the flexible mesh foot cup base throughout the entire simulation period. Based on this stress contour map, the equivalent stress distribution information of the flexible mesh foot cup base can be obtained, stress concentration areas on the flexible mesh foot cup base can be identified, and the maximum equivalent stress value and its occurrence time can be determined. In this way, the structural strength of the flexible mesh foot cup base under dynamic loads, that is, the structural strength under periodic excitation signals, can be evaluated through the equivalent stress distribution information, determining whether it exceeds the allowable stress range, and providing a design basis for the structural optimization of the foot cup base.

[0075] In the above embodiments, the simulation method provided by the present invention can also track the center of gravity trajectory of the rigid-flexible coupling model under the action of periodic excitation signal, and can acquire and analyze the dynamic center of gravity shift during the motion process of the rigid-flexible coupling model in real time.

[0076] For example, such as Figure 10 As shown, after obtaining the rigid-flexible coupling model, a virtual tracking body 300 can be created outside the rigid-flexible coupling model, for example, near the rigid-flexible coupling model. The mass of the virtual tracking body 300 is much smaller than the total mass of the rigid-flexible coupling model, so as to avoid the layout of the virtual tracking body 300 affecting the centroid motion trajectory of the rigid-flexible coupling model.

[0077] For example, generalized motion constraints can be applied to the virtual tracking body 300 in dynamic simulation software, allowing it to move according to the physical formulas defined for it. Therefore, displacement expressions for the virtual tracking body 300 in the three translational degrees of freedom (X, Y, and Z axes) can be constructed, without defining expressions for other rotational degrees of freedom, so that the virtual tracking body 300 moves along a predetermined trajectory constrained by the displacement expressions. Here, the displacement expression is the sum of the products of the masses of each component of the rigid-flexible coupling model and the coordinate values ​​of their centers of mass in the corresponding coordinate axes, divided by the total mass. As shown below: ; ; ; in, Let X be the coordinates of the centroid of the rigid-flexible coupling model on the X-axis. Let be the coordinates of the centroid of the rigid-flexible coupling model on the Y-axis. Let be the coordinates of the centroid of the rigid-flexible coupling model on the Z-axis. For the mass of each component in the rigid-flexible coupling model; These are the coordinate values ​​on the X-axis, Y-axis, and Z-axis, respectively. Mark the centroid of each component.

[0078] Furthermore, these three displacement expressions are assigned as translational degree-of-freedom constraints to the virtual tracking body 300, meaning that the trajectory of the virtual tracking body 300 on the X, Y, and Z axes is determined by these three displacement expressions. Taking a periodic excitation signal period of 2 seconds and a total simulation time of 12 seconds as an example, for a dynamic simulation of a rigid-flexible coupling model, as follows... Figure 11 As shown, the center of gravity change path of the rigid-flexible coupling model can be obtained by tracking the motion trajectory of the virtual tracking body 300. The straight line S1 represents the instantaneous center of gravity tracking path, which is the path the virtual tracking body instantly moves to the robot's center of gravity at the initial moment of the simulation and can be ignored. The elliptical path S2 is the center of gravity change path, which also represents the actual center of gravity change path of the rigid-flexible coupling model during the sewing operation.

[0079] Furthermore, such as Figure 12 As shown, the curves illustrating the change in the centroid coordinates of the rigid-flexible coupling model along the X-axis over the total simulation time are illustrated. Figure 13 As shown, the curves illustrating the change in the Y-axis coordinates of the centroid of the rigid-flexible coupled model over the total simulation time are illustrated. Figure 14 As shown, the curve of the coordinate value change of the center of gravity of the rigid-flexible coupling model on the Z-axis during the total simulation time is displayed. Obviously, the offset of the center of gravity of the rigid-flexible coupling model on the X-axis, Y-axis and Z-axis can also be read from the coordinate value change curve shown.

[0080] Combination Figures 11-14 As shown, the center of gravity of the rigid-flexible coupling model is relatively low, and the overall offset is small throughout the simulation time, proving that the current weight distribution of the rigid-flexible coupling model is reasonable. Subsequent experiments can verify the displacement deviation of this center of gravity tracking method. With good consistency, the simulation results can be considered good, making it suitable for future fundamental theoretical analysis of lightweighting based on this method. This successfully solves the problem that existing software cannot track the trajectory of the center of gravity of a moving object. By using the mathematical mapping of the virtual tracking volume 300, the center of gravity offset trajectory of the rigid-flexible coupling model during sewing operations is quantitatively tracked, and the center of gravity offset is observed in real time, making the invisible center of gravity movement explicit and a trackable real-time trajectory.

[0081] In the above embodiments, a pre-simulation verification step can be performed before adjusting the rigid foot cup base of the multibody dynamics model to a flexible mesh foot cup base. In this way, before introducing the flexible mesh foot cup base, the correctness of the kinematic pair constraints, contact constraints, and periodic excitation signals of the rigid multibody dynamics model can be checked first. This avoids the failure of the subsequent simulation of the rigid-flexible coupling model due to errors that already exist in the multibody dynamics model, which helps to eliminate errors in advance and save computational costs.

[0082] Specifically, after obtaining the multibody dynamics model, the surface geometric contact constraints between the rigid foot cup base of the foot cup assembly and the simulated ground can be defined, along with the elastic bushing connection relationships between the foot cup base and connecting rod 2, and between connecting rod 2 and the robot chassis. Based on this, periodic excitation signals are applied to the drive joints of the robotic arm 31 and the drive joints of the waist region in the multibody dynamics model to perform pre-simulation analysis. These periodic excitation signals are consistent with the periodic excitation signals used in the simulation phase of the rigid-flexible coupling model.

[0083] If the pre-simulation analysis meets the requirements within the preset simulation time, it indicates that the multibody dynamics model meets the requirements. The rigid foot cup base in the multibody dynamics model can then be adjusted to a flexible mesh foot cup base. This can be achieved by creating a flexible 3D mesh of the foot cup base in mesh analysis software, and then importing the intermediate file of the flexible foot cup base into the dynamics simulation software to replace the rigid foot cup base. Since the foot cup base has been adjusted to a flexible mesh, the constraints can be redefined according to step 104.

[0084] If problems such as numerical divergence, kinematic constraint conflict, or abnormal interference between components occur during the pre-simulation analysis stage, it indicates that there is an error in the current constraint definition or excitation signal. In this case, the pre-simulation analysis is considered not to meet the requirements within the preset simulation time. The simulation parameters can then be adjusted in the dynamic simulation software until the pre-simulation analysis meets the requirements within the preset simulation time.

[0085] As can be seen from the above embodiments, the present invention uses a flexible mesh base obtained by dividing the foot cup base into flexible meshes. This flexible mesh base replaces the rigid foot cup base in the dynamic simulation software. By controlling the drive joints of the robotic arm 31 and the drive joints of the waist in the rigid-flexible coupling model, the mechanical performance of the sewing robot under complex working conditions such as fabric picking, feeding, and sewing can be evaluated more accurately. This simulation method can provide effective data support for the lightweight design of the sewing robot. By simulating actual sewing operations and collecting the slippage of the foot cup base caused by the force transmitted by the robotic arm 31, the stability of the sewing robot can be evaluated. This helps to improve the anti-tipping ability of the sewing robot under complex load conditions, thereby effectively improving the overall design quality of the sewing robot, avoiding execution risks, and shortening the product development cycle.

[0086] like Figure 15 As shown, the present invention also provides a model simulation method for a sewing robot, which may include the following steps: In step 151, a model of the sewing robot is created.

[0087] In step 152, the model is preprocessed to obtain the initial assembly model.

[0088] In this embodiment, a sewing robot model is created using 3D software. Structural improvements made by researchers to the sewing robot can be incorporated into this 3D modeling process. After preprocessing the model, an intermediate file of the initial assembly model is exported.

[0089] In step 153, the initial assembly model is imported into the dynamics simulation software.

[0090] In step 154, simulation parameters are defined in the dynamics simulation software. These simulation parameters include environmental parameters, kinematic pairs, and fixed pairs, resulting in a multibody dynamics model.

[0091] In this embodiment, the material properties of each structural component may also be set.

[0092] In step 155, the surface geometric contact constraints between the rigid foot cup base and the simulated ground are defined in the multibody dynamics model, and the connection relationships between the rigid foot cup base and connecting rod 2, as well as between connecting rod 2 and the elastic bushing of the robot chassis, are defined.

[0093] In step 156, a periodic excitation signal is applied to the multibody dynamics model to perform a pre-simulation analysis.

[0094] In step 157, is it determined whether the pre-simulation analysis meets the requirements? In this embodiment, if the pre-simulation analysis meets the requirements, that is, if the mechanism motion and constraints of the multibody dynamics model are accurate during the pre-simulation analysis, then proceed to step 158; otherwise, proceed to step 166, where the simulation parameters can be adjusted in the dynamics simulation software. For example, the simulation parameters in step 154 ​​can be adjusted and modified, or simulation parameters omitted in step 154 ​​can be added, or simulation parameters in step 154 ​​can be deleted. The specific adjustment steps can be adapted accordingly.

[0095] In step 158, a flexible mesh foot cup base is obtained in the mesh generation software.

[0096] In this embodiment, based on the results of the pre-simulation analysis, it is shown that the current multibody dynamics model meets the requirements. Therefore, the step of constructing a rigid-flexible coupling model for the multibody dynamics model can proceed. Specifically, this may include steps 158-161.

[0097] In step 158, the base of the foot cup is meshed using mesh generation software to obtain a flexible mesh foot cup base. In other embodiments, the base of the foot cup base can also be meshed directly in dynamic simulation software to obtain a flexible mesh foot cup base.

[0098] In step 159, the flexible mesh foot cup base is imported into the dynamic simulation software.

[0099] In step 160, the flexible mesh foot cup base is adjusted to the rigid foot cup base.

[0100] In step 161, the surface geometric contact constraints between the flexible mesh foot cup base and the simulated ground are defined, and the elastic bushing connection relationships between the flexible mesh foot cup base and the connecting rod 2, and between the connecting rod 2 and the robot chassis are defined, thus obtaining the rigid-flexible coupling model.

[0101] In step 162, a virtual tracking volume 300 is created in the rigid-flexible coupling model attachment.

[0102] In step 163, displacement expressions for the X-axis, Y-axis and Z-axis are assigned to the virtual tracking body 300 to constrain the motion trajectory of the virtual tracking body 300.

[0103] In this embodiment, the displacement expressions of the X-axis, Y-axis, and Z-axis all represent the center-of-gravity coordinates of the rigid-flexible coupling model of the sewing robot on each axis. Therefore, the motion trajectory of the virtual tracking body 300 can be constrained by the displacement expressions, and this motion trajectory is also the center-of-gravity change trajectory of the rigid-flexible coupling model.

[0104] In step 164, a dynamic simulation is performed.

[0105] In step 165, the trajectory of the center of gravity change of the rigid-flexible coupling model and the combined displacement of the flexible mesh foot cup base are obtained during the total simulation time.

[0106] In step 166, the simulation parameters of the multibody dynamics model are adjusted.

[0107] In step 167, the process ends.

[0108] like Figure 16 The diagram shown is a schematic representation of a model simulation device for a sewing robot according to an exemplary embodiment of the present invention. The device includes: The first acquisition module 1601 acquires the initial assembly model of the sewing robot and imports it into the dynamics simulation software; The model definition module 1602 defines simulation parameters in the dynamics simulation software based on the initial assembly model to obtain the multibody dynamics model of the sewing robot. The simulation parameters include environmental parameters, kinematic pairs, and fixed pairs. The rigid-flexible modeling module 1603 adjusts the rigid foot cup base of the multibody dynamics model into a flexible mesh foot cup base; The contact definition module 1604 defines the surface geometric contact constraints between the flexible mesh foot cup base and the simulated ground, and defines the elastic bushing connection relationship between the flexible mesh foot cup base and the connecting rod, and between the connecting rod and the robot chassis, to obtain the rigid-flexible coupling model of the sewing robot. The simulation module 1605 applies periodic excitation signals to the drive joints of the robotic arm and the drive joints of the waist in the rigid-flexible coupling model to perform dynamic simulation on the rigid-flexible coupling model. The second acquisition module 1606 acquires the simulation result information of the flexible mesh foot cup base under the action of the periodic excitation signal.

[0109] Each module of the above-mentioned model simulation device corresponds to the steps of the above-mentioned model simulation method. For details on the implementation process of the functions and roles of each module in the above-mentioned model simulation device, please refer to the implementation process of the corresponding steps in the above-mentioned model simulation method. The same technical effect can be achieved, and it will not be repeated here.

[0110] This invention also provides a computer device, such as... Figure 17 The diagram shown is a schematic representation of a computer device structure according to an exemplary embodiment of the present invention. The computer device includes: The processor 171 and the memory 172; the memory 172 stores machine-readable instructions executable by the processor 171, and the processor 171 is used to execute the machine-readable instructions stored in the memory 172. When the machine-readable instructions are executed by the processor 171, the processor 171 performs the steps described in any of the above embodiments.

[0111] The aforementioned memory 172 includes a main memory 1721 and an external memory 1722; the main memory 1721, also known as internal memory, is used to temporarily store the computational data in the processor 171, as well as the data exchanged with external memory 1722 such as a hard disk. The processor 171 exchanges data with the external memory 1722 through the main memory 1721.

[0112] The specific execution process of the above instructions can be referred to the steps of the robot control method described in the embodiments of the present invention, and will not be repeated here.

[0113] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of the present invention according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0114] This invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the robot control method described in the above-described method embodiments. The storage medium can be either volatile or non-volatile computer-readable storage.

[0115] This invention also provides a computer program product, including a computer program / instruction, which, when executed by the computer program / instruction processor, implements the robot control method provided in the various embodiments of this invention.

[0116] The aforementioned computer program product can be implemented through hardware, software, or a combination thereof. In one optional embodiment, the computer program product is specifically embodied in a computer storage medium; in another optional embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0117] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. In the several embodiments provided by this invention, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division; in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection may be through some communication interfaces; the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms.

[0118] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0119] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0120] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0121] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0122] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A model simulation method for a sewing robot, characterized in that, include: Obtain the initial assembly model of the sewing robot and import it into the dynamics simulation software; In the dynamics simulation software, simulation parameters are defined based on the initial assembly model to obtain the multibody dynamics model of the sewing robot. The simulation parameters include environmental parameters, kinematic pairs, and fixed pairs. The rigid foot cup base of the multibody dynamics model is adjusted to a flexible mesh foot cup base; Define the surface geometric contact constraints between the flexible mesh foot cup base and the simulated ground, define the elastic bushing connection relationship between the flexible mesh foot cup base and the connecting rod, and between the connecting rod and the robot chassis, to obtain the rigid-flexible coupling model of the sewing robot; Periodic excitation signals are applied to the drive joints of the robotic arm and the drive joints of the waist in the rigid-flexible coupling model to perform dynamic simulation of the rigid-flexible coupling model; The simulation results of the flexible mesh foot cup base under the action of the periodic excitation signal are obtained.

2. The model simulation method according to claim 1, characterized in that, The step of adjusting the rigid foot cup base of the multibody dynamics model to a flexible mesh foot cup base includes: The flexible mesh foot cup base is obtained by performing flexible 3D mesh generation on the foot cup base in the mesh generation software. Export the intermediate file of the flexible mesh foot cup base; Import the intermediate file of the flexible mesh foot cup base into the dynamics simulation software to replace the rigid foot cup base in the multibody dynamics model.

3. The model simulation method according to claim 1, characterized in that, The defined surface geometric contact constraints between the flexible mesh foot cup base and the simulated ground include: Obtain the first set of grid nodes in contact between the flexible mesh foot cup base and the simulated ground; The contact type between the first set of mesh nodes and the simulated ground is defined using surface geometric contact. The normal contact stiffness between the first set of mesh nodes and the simulated ground is set based on the immersion boundary formula; Set the static friction coefficient and dynamic friction coefficient between the first set of grid nodes and the simulated ground.

4. The model simulation method according to claim 3, characterized in that, The definition of the elastic bushing connection relationship between the flexible mesh foot cup base and the connecting rod, and between the connecting rod and the robot chassis, includes: Obtain the set of second grid nodes that are in contact with the connecting rod of the flexible mesh foot cup base; Define the elastic bushing connection relationship between the second set of grid nodes and the connecting rod; The contact stiffness and damping coefficient of the elastic bushing connection relationship are set in each of the six degrees of freedom directions.

5. The model simulation method according to claim 1, characterized in that, Applying periodic excitation signals to the drive joints of the robotic arm and the drive joints of the waist in the rigid-flexible coupling model includes: A periodic excitation signal is generated based on the combined expression of the step function and the modulus function. The periodic excitation signal has a period duration equal to the action cycle duration of the sewing operation. The periodic excitation signal is used to drive at least one drive joint of the rigid-flexible coupling model to complete one action cycle along a predefined time axis. Periodic excitation signals are applied to the drive joints of the robotic arm and the drive joints of the waist in the rigid-flexible coupling model to perform motion simulation.

6. The model simulation method according to claim 1, characterized in that, The process of defining simulation parameters based on the initial assembly model in the dynamics simulation software to obtain the multibody dynamics model of the sewing robot includes: Define the direction of gravity; Define the fixed constraints of the simulated ground; The shell components of the initial assembly model are divided into multiple independent assemblies according to the region, and each independent assembly is connected to the corresponding internal truss structure with a fixed joint. Define the revolute joints of the drive joints of the robotic arm; Define the revolute joint of the drive joint in the waist.

7. The model simulation method according to claim 1, characterized in that, Also includes: After the dynamic simulation is completed, the displacement cloud map and stress cloud map of the flexible mesh foot cup base are displayed through the post-processing module; Extract the maximum resultant displacement of the flexible mesh foot cup base from the displacement cloud map; The stability of the rigid-flexible coupling model is evaluated by comparing the maximum resultant displacement with the safe displacement threshold. Based on the stress cloud diagram, obtain the equivalent stress distribution information of the flexible mesh foot cup base; Based on the equivalent stress distribution information, the structural strength of the flexible mesh foot cup base under dynamic load is evaluated.

8. The model simulation method according to claim 1, characterized in that, Also includes: A virtual tracking body is created outside the rigid-flexible coupling model, and the mass of the virtual tracking body is much smaller than the total mass of the rigid-flexible coupling model. Construct displacement expressions for the virtual tracking body in the three translational degrees of freedom of the X-axis, Y-axis, and Z-axis. The displacement expression is the sum of the products of the mass of each component of the rigid-flexible coupling model and the coordinate values ​​of its center of mass in the corresponding coordinate axis direction, divided by the total mass. The three displacement expressions are respectively assigned translational degree-of-freedom constraints to the virtual tracking body; By tracking the motion trajectory of the virtual tracking object, the path of the center of gravity change of the rigid-flexible coupling model can be obtained.

9. The model simulation method according to claim 1, characterized in that, Before adjusting the rigid foot cup base of the multibody dynamics model to a flexible mesh foot cup base, the following steps are also included: Define the surface geometric contact constraints between the rigid foot cup base and the simulated ground in the multibody dynamics model; define the elastic bushing connection relationship between the rigid foot cup base and the connecting rod, and between the connecting rod and the robot chassis; Periodic excitation signals are applied to the drive joints of the robotic arm and the drive joints of the waist in the multibody dynamics model to perform pre-simulation analysis; When the pre-simulation analysis meets the requirements within the preset simulation time, the rigid foot cup base of the multibody dynamics model is adjusted to a flexible mesh foot cup base; If the pre-simulation analysis does not meet the requirements within the preset simulation time, the simulation parameters in the dynamic simulation software are adjusted until the pre-simulation analysis meets the requirements within the preset simulation time.

10. A model simulation device for a sewing robot, characterized in that, include: The first acquisition module acquires the initial assembly model of the sewing robot and imports it into the dynamics simulation software; The model definition module defines simulation parameters in the dynamics simulation software based on the initial assembly model to obtain the multibody dynamics model of the sewing robot. The simulation parameters include environmental parameters, kinematic pairs, and fixed pairs. The rigid-flexible modeling module adjusts the rigid foot cup base of the multibody dynamics model into a flexible mesh foot cup base; The contact definition module defines the surface geometric contact constraints between the flexible mesh foot cup base and the simulated ground, and defines the elastic bushing connection relationship between the flexible mesh foot cup base and the connecting rod, and between the connecting rod and the robot chassis, to obtain the rigid-flexible coupling model of the sewing robot. The simulation module applies periodic excitation signals to the drive joints of the robotic arm and the drive joints of the waist in the rigid-flexible coupling model to perform dynamic simulation of the rigid-flexible coupling model. The second acquisition module acquires the simulation result information of the flexible mesh foot cup base under the action of the periodic excitation signal.

11. A computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, implement the steps of the method as claimed in any one of claims 1-9.

12. A computer program product, comprising a computer program and / or instructions, characterized in that, When the computer program and / or instructions are executed by a processor, they implement the steps of the method as described in any one of claims 1-9.

Images