CN107632532A - A kind of system and method for mechanical arm analysis of running performance - Google Patents
A kind of system and method for mechanical arm analysis of running performance Download PDFInfo
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- CN107632532A CN107632532A CN201711027525.4A CN201711027525A CN107632532A CN 107632532 A CN107632532 A CN 107632532A CN 201711027525 A CN201711027525 A CN 201711027525A CN 107632532 A CN107632532 A CN 107632532A
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Abstract
Present invention is disclosed a kind of system for mechanical arm analysis of running performance, mechanical arm is fixed in drive system by mounting seat, the vision test device of vibration signal under collection machinery arm motion state is provided with by the mechanical arm, the vibration signal gathered is transferred to detecting and analysing system by the vision test device through signal processing apparatus, and the modal frequency experimental data for analyzing acquisition is delivered to recognition system by the detecting and analysing system.The present invention combines the constrained parameters identification of joint portion, initial communication condition determines and performance evaluation optimizes in one, it can be considered that due to the control of installation pretightening force is inaccurate or bolt looseness caused by pretightning force reduce, the factor of boundary stiffness change, and the effect of system starting process initial communication excitation, improve the precision of system performance analysis and the adaptability to environmental factor change.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of bolt-connection mechanical arm even running of view-based access control model observation
The technology of performance evaluation.
Background technology
Mechanical arm is the important component of robot, in the operations such as machining, precision assembly, loading and unloading, spraying
Extensive application.However, mechanical arm is produced during operation, start and stop and motion conversion is performed by dynamic excitation
Elastic vibration, and vibrate and become apparent in high speed operation.Patent CN200810027187.9 discloses one kind and is based on acceleration
The Flexible Cantilever Plate vibration control apparatus and control method of sensor, its scheme need to symmetrically paste multi-disc piezoelectric ceramic piece and acceleration
Sensor is spent, patent CN201110391448.7 discloses a kind of flexible, hinged plate benging and twisting vibration multi-way contral for another example
Apparatus and method, need on flexible board to paste piezoelectric ceramic piece sensor, piezoelectric ceramic piece driver, while acceleration sensing is installed
Device, piezoelectric stack driver and sma actuator.It is not difficult to find out, it is negative due to that can be introduced using acceleration transducer, piezoelectric actuator etc.
Carry effect and structure Coupling problem, influence the dynamic property of mechanical arm in itself, the uses of multiple sensors also increase system into
This, and the paste position, specific arrangement form and technique of piezoelectric actuator are also had higher requirements in operation.
Mechanical arm is connected by joint portion with robot body, is typical coupled system, and using bolt joint portion
Mechanical arm has more application.Caused loosening during being forbidden and be on active service due to pretightning force control, the normal table in bolt joint portion
Reveal certain buoyancy effect, this necessarily increases the coupling of system, and bolted boundary constraint is special to the dynamic of system
Property has material impact, and traditional mechanical arm vibration test system and method have ignored the influence of mechanical arm boundary constraint, not have
Consider due to the control of installation pretightening force is inaccurate or bolt looseness caused by pretightning force reduce, boundary stiffness change because
Element, there are some researches show pretightning force reduction, boundary stiffness change caused by bolt looseness are special to the mode of system and response
Property there is material impact, ignoring the influence of mechanical arm boundary constraint can undoubtedly make the analysis result of system produce certain error.
Inventor discloses a kind of motion girder construction basic constraint state monitoring method and the system (patent No.
ZL201310130399.0), motion girder construction basic constraint state can be monitored, but this method can only judge beam knot
Whether basic constraint state changes in structure motion process, and can not judge the design parameter value of restrained condition do not have in addition
There is realization to identify restrained condition to be integrated with performance evaluation.As typical Mechanical ＆ Electrical Combination System, mechanical arm was starting
There is responsing excitation effect in journey, generally ignore the effect of system starting process initial communication excitation at present, can undoubtedly reduce system
The precision of analysis.
The content of the invention
The technical problems to be solved by the invention are to realize that a kind of bolt-connection mechanical arm of view-based access control model observation is steadily transported
Row performance analysis system.
To achieve these goals, the technical solution adopted by the present invention is：It is a kind of for mechanical arm analysis of running performance
System, mechanical arm are fixed in drive system by mounting seat, are provided with collection machinery arm motion state and are shaken by the mechanical arm
The vibration signal gathered is transferred to survey by the vision test device of dynamic signal, the vision test device through signal processing apparatus
Analysis system is tried, the modal frequency experimental data for analyzing acquisition is delivered to recognition system by the detecting and analysing system.
The measurement direction of the vision test device is consistent with the direction of vibration of mechanical arm.
The result output module of the recognition system is furnished with display unit, and the result output module output is following to be joined
Number to display unit shows that parameter includes installation pedestal and the line of mechanical arm joint portion constrains rigidity, torsional restraint rigidity, line about
Beam damps and torsional restraint damping.
The recognition system includes：
Motor pattern setting module：It is big for setting the motor pattern of mechanical arm and the speed of the motor pattern or acceleration
It is small, and setup parameter is delivered to Dynamic Modeling module and built；
Boundary condition setting module：For setting line constraint rigidity, the torsional restraint of installation pedestal and mechanical arm joint portion
Rigidity, line damping-constraining and torsional restraint damping, and setup parameter is delivered to Dynamic Modeling module and built；
Dynamic Modeling module：For establishing the kinetic model of mechanical arm according to the setup parameter of input；
Emulation solves module：For determining edge-restraint condition according to the structural parameters of actual set mechanical arm, and according to
Kinetic model and edge-restraint condition obtain the modal frequency of mechanical arm, and are delivered to Parameter analysis data by modal frequency is defeated
Storehouse；
Parameter analysis database：Modal frequency will be obtained to be stored and be delivered to parameter identification module；
Experimental data load-on module：The modal frequency experimental data of detecting and analysing system is obtained, and modal frequency is tested
Data are delivered to parameter identification module；
Parameter identification module：According to Parameter analysis database and modal frequency experimental data to installation pedestal and mechanical arm knot
The line constraint rigidity in conjunction portion, torsional restraint rigidity, line damping-constraining, torsional restraint damping are identified, and recognition result is defeated
Deliver to result output module.
The result output module exports recognition result to authentication module, and the authentication module is used to judge that recognition result is
It is no to meet required precision, and the signal for being unsatisfactory for required precision is delivered to parameter identification module, the letter of required precision will be met
Performance analysis system number is delivered to, the performance analysis system exports revise signal to drive system.
The mechanical arm is bolted in installation pedestal by multiple, and the drive system control machinery arm is translated
Motion and rotary motion.
Analysis method based on the system for mechanical arm analysis of running performance, it is characterised in that：
Step 1, recognition system obtain the modal frequency of mechanical arm according to setup parameter
Step 2, the current vibration signal of mechanical arm is obtained using vision test device, and vibration signal processing is obtained into mould
Recognition system is delivered to after state frequency experimental data；
Step 3, the parameter identification module of recognition system according to Parameter analysis database and modal frequency experimental data,
Line constraint rigidity to mechanical arm joint portion, torsional restraint rigidity, line damping-constraining, torsional restraint damping are identified, and tested
Whether card recognition result meets required precision, if recognition result meets required precision, according to the line constraint rigidity identified, turns round
Turn constraint rigidity, line damping-constraining, torsional restraint damping progress boundary condition amendment, if recognition result is unsatisfactory for required precision,
Then feed back to parameter identification module to be re-recognized, until meeting required precision；
Step 4, the accurate virtual PM prototype model for establishing according to the boundary condition of amendment mechanical arm, according to virtual prototype simulation
Analysis, the confinement mechanism of confinement mechanism analysis module mechanical arm joint portion are analyzed；
Step 5, the precise kinetic model for establishing according to the boundary condition of amendment bolt-connection mechanical arm, according to accurate dynamic
Mechanical model obtains the vibration displacement curve of Acceleration of starting stage mechanical arm, and the initial displacement of determination and initial velocity are inputed to
Dynamic analysis module, dynamic analysis module are analyzed the vibration characteristics of stable operation stage mechanical arm, it is determined that
The optimal starting characteristic of dynamic property and stable operation speed, and feed back to the drive system of bolt-connection mechanical arm.
The step 1 comprises the following steps：
1) motor pattern setting module is by the motor pattern of the mechanical arm of setting and the speed or acceleration magnitude of the motion
Parameter is delivered to Dynamic Modeling module；
2) line of the installation pedestal of setting and mechanical arm joint portion is constrained rigidity, torsional restraint by boundary condition setting module
Rigidity, line damping-constraining and torsional restraint damping parameter are delivered to Dynamic Modeling module；
3) Dynamic Modeling module leads to the kinetic model that acquired parameter establishes mechanical arm；
4) emulation solves structural parameters of the module according to actual set mechanical arm, it is determined that containing wired constraint rigidity, reversing about
The edge-restraint condition for the mechanical arm that Shu Gangdu, line damping-constraining, torsional restraint damp；
5) modal mass and modal stiffness of mechanical arm are extracted according to kinetic model and edge-restraint condition；
6) solved to obtain the modal frequency of mechanical arm, and input parameter analytical database according to modal mass and modal stiffness
Stored.
Method, which is identified, in the step 3 includes：According to the proportion shared by each rank modal frequency during identification, each rank is determined
The weight coefficient of modal frequency, with the minimum object function of error sum of squares of each rank modal frequency, determine Parameter analysis data
Line constraint rigidity, torsional restraint rigidity in storehouse corresponding to the minimum each rank modal frequency of error of fitting quadratic sum, line constraint resistance
Buddhist nun and torsional restraint damping.
Verify whether recognition result meets that the method for required precision includes in the step 3：Authentication module is according to identifying
Line constraint rigidity, torsional restraint rigidity, line damping-constraining, torsional restraint damping, establish the FEM model of mechanical arm respectively
And virtual prototype, by the mode result that FEM model emulates compared with the modal frequency experimental data of reality, and
The vibration displacement result of virtual prototype emulation carries out dual test compared with the vibration displacement data of reality, to recognition result
Card.
The enough lines to bolt-connection mechanical arm joint portion of the present invention constrain rigidity k, torsional restraint rigidity kt, line damping-constraining
C and torsional restraint damping ct are identified, and carry out double verification to recognition result, can correct the border of bolt-connection mechanical arm
Condition, accurate virtual PM prototype model and accurate kinetic model are established, can be to the constraint machine of bolt-connection mechanical arm joint portion
Reason is analyzed, and determines the primary condition of bolt-connection mechanical arm stable operation stage, performance optimization module can be to bolt-connection
The drive characteristic of mechanical arm optimizes, and determines the optimal starting characteristic of dynamic property and stable operation speed, carries out mechanical arm
Performance optimization.
In addition, the present invention combines the constrained parameters identification of joint portion, initial communication condition determines and performance evaluation optimization
In one, it can be considered that due to the control of installation pretightening force is inaccurate or bolt looseness caused by pretightning force reduce, boundary constraint it is firm
The factor of change, and the effect of system starting process initial communication excitation are spent, improves the precision of system performance analysis and to ring
The adaptability of border factor change.In addition, view-based access control model observation of the present invention, can effectively be avoided because using vibrating sensor and piezoelectricity
The load effect and structure Coupling problem that driver is brought.
Brief description of the drawings
The content of every width accompanying drawing expression in description of the invention and the mark in figure are briefly described below：
Fig. 1 is the schematic diagram of the system for mechanical arm analysis of running performance；
Fig. 2 is the graph of a relation between the first-order modal frequency of constrained parameters and mechanical arm；
Fig. 3 is the accurate virtual PM prototype model schematic diagram of bolt-connection mechanical arm；
Fig. 4 is the force diagram of bolt-connection mechanical arm initial operation stage joint portion；
Fig. 5 is the starting characteristic curve in bolt-connection mechanical arm Acceleration of starting stage；
Fig. 6 is the vibration displacement curve in bolt-connection mechanical arm Acceleration of starting stage；
Fig. 7 is the vibration velocity curve in bolt-connection mechanical arm Acceleration of starting stage；
Fig. 8 is the vibration response curve of bolt-connection mechanical arm stable operation stage；
Mark in above-mentioned figure is：1st, mechanical arm；2nd, installation pedestal；3rd, drive system；4th, bolt；5th, visual test fills
Put；6th, signal processing apparatus；7th, detecting and analysing system；8th, virtual prototype mobile foundation；9th, linear straight spring；10th, torsionspring.
Embodiment
As shown in figure 1, the bolt-connection mechanical arm even running performance analysis system of the view-based access control model observation of the present invention, bag
Include bolt connection mechanical arm, vision test device 5, signal processing apparatus 6, detecting and analysing system 7, recognition system, checking
Module and performance analysis system, wherein, bolt connection mechanical arm includes mechanical arm 1, the drive system 3 with installation pedestal 2, machinery
Arm 1 is connected in installation pedestal 2 by bolt 4, because the control of installation pretightening force is inaccurate and long-time operation process, machinery
The bolt 4 of arm 1 can loosen, and so as to which pretightning force reduces, the boundary stiffness of mechanical arm 1 also just changes.
Motor pattern setting module and boundary condition setting module can realize data transfer with Dynamic Modeling module, move
The data input of mechanical modeling module solves module to emulation, and the data input that emulation solves module gives Parameter analysis database,
Parameter analysis database can realize data transfer with parameter identification module, and the data input of experimental data load-on module is to parameter
Identification module, the data of parameter identification module are shown by result output module, and input to authentication module.
Mechanical arm 1 has translational motion and rotary motion in the presence of drive system 3, and mechanical arm 1 is in motion process
Elastic vibration be present, the measurement direction of vision test device 5 is consistent with the direction of vibration of mechanical arm 1；Motor pattern setting module
The motor pattern of middle mechanical arm 1 includes translational motion and rotary motion, and the speed or acceleration magnitude of every kind of motion.
As a result the parameter that output module is shown includes bolt 4 and couples the line constraint rigidity k of the joint portion of mechanical arm 1, reverses about
Shu Gangdu kt, line damping-constraining c and torsional restraint damping ct.Wherein authentication module includes finite element checking and virtual prototype is tested
Card.
The bolt-connection mechanical arm even running method for analyzing performance observed using the view-based access control model of said system, main bag
Include following steps：
Step 1：The motor pattern of bolt-connection mechanical arm and the speed of the motion are set in motor pattern setting module
Or acceleration magnitude, the line constraint rigidity k of bolt-connection mechanical arm joint portion is set in boundary condition setting module, is reversed about
Shu Gangdu kt, line damping-constraining c and torsional restraint damping ct, the motor pattern of setting and boundary constraint input to Dynamic Modeling
Module, Dynamic Modeling module establish the kinetic model of bolt-connection mechanical arm, using the translational motion situation of mechanical arm 1 as
Example, the kinetics equation of mechanical arm 1 are：
In formula,qiRepresent the i-th rank modal coordinate of mechanical arm 1, ωiFor the i-th rank mould of mechanical arm 1
State frequency, φ (x) represent the model function of vibration of mechanical arm 1, and s represents the moving displacement of drive system 3, and ρ represents the quality of mechanical arm 1
Density, A represent the cross-sectional area of mechanical arm 1, and A=b × h, L are the length of mechanical arm 1, and b is the width of mechanical arm 1, and h is machine
The thickness of tool arm 1；meFor the quality of end load.
The kinetics equation of above formula mechanical arm 1 to be solved obtains the vibration displacement of mechanical arm 1, needs the side of known mechanical arm 1
Bound constrained condition, the boundary condition of mechanical arm 1 are represented by
In formula, k represents line constraint rigidity, and c represents line damping-constraining, ktRepresent torsional restraint rigidity, ctRepresent torsional restraint
Damping.w0Represent the vibration displacement at mechanical arm arm joint portion end；Q0、M0The respectively shearing and moment of flexure of joint portion,E is the modulus of elasticity of mechanical arm 1；I be mechanical arm 1 the moment of inertia, I=
bh3/12。
Therefore, line constraint rigidity k, the torsional restraint rigidity k of bolt-connection joint portiont, line damping-constraining c, torsional restraint
Damp ct, there is material impact to the dynamic characteristic of mechanical arm 1, the control of installation pretightening force is forbidden and long-time operation, spiral shell
Bolt 5 can loosen, and so as to which pretightning force reduces, the parameter of bolt-connection joint portion also just changes, therefore is entering Mobile state
During specificity analysis, it can be identified, to ensure the precision of analysis result.
According to the structural parameters of actual set mechanical arm in emulation solves module, it is determined that containing wired constraint rigidity k, reversing
Constrain rigidity kt, line damping-constraining c, torsional restraint damping ctMechanical arm edge-restraint condition p (k, kt,c,ct), according to dynamic
Mechanical model and edge-restraint condition p (k, kt,c,ct), the modal mass M and modal stiffness K of mechanical arm are extracted, according to mode matter
Amount M and modal stiffness K is solved to obtain the modal frequency of mechanical arm, and input parameter analytical database is stored.
As shown in Fig. 2 give line constraint rigidity k, torsional restraint rigidity ktBetween the first-order modal frequency of mechanical arm 1
Relation, same method can obtain line constraint rigidity k, torsional restraint rigidity ktWith the pass between each rank modal frequency of mechanical arm
System, and line damping-constraining c, torsional restraint damping ctWith the relation between each rank modal frequency of mechanical arm.As can be seen that pass through machine
The constrained parameters of bolt-connection mechanical arm joint portion can be identified for the modal frequency of tool arm.
Step 2：Vibration signal of the mechanical arm 1 under the motion state, vibration signal warp are obtained using vision test device 5
Signal processing apparatus 6 is transferred to detecting and analysing system 7, obtains the modal frequency experimental data of mechanical arm 1, by the mould of mechanical arm 1
State frequency experimental data inputs to parameter identification module by experimental data load-on module；
Step 3：Parameter identification module is according to Parameter analysis database and modal frequency experimental data, to bolt-connection machinery
Line constraint rigidity k, the torsional restraint rigidity k of arm joint portiont, line damping-constraining c, torsional restraint damping ctIt is identified, specific mistake
Cheng Wei：According to the proportion shared by each rank modal frequency during identification, the weight coefficient of each rank modal frequency is determined, with each rank mode frequency
The minimum object function of error sum of squares of rate, determine each rank mode that error of fitting quadratic sum is minimum in Parameter analysis database
Line constraint rigidity k, torsional restraint rigidity k corresponding to frequencyt, line damping-constraining c and torsional restraint damping ct。
Recognition result inputs to authentication module by result output module, and authentication module constrains rigidity according to the line identified
K, torsional restraint rigidity kt, line damping-constraining c, torsional restraint damping ct, the FEM model of mechanical arm 1 and virtual is established respectively
PM prototype model, by the mode result that FEM model emulates compared with the modal frequency experimental data of reality, and virtual sample
The vibration displacement result of machine model emulation carries out double verification compared with the vibration displacement data of reality, to recognition result, if knowing
Other result meets required precision, then according to line constraint rigidity k, the torsional restraint rigidity k identifiedt, line damping-constraining c, reverse
Damping-constraining ctBoundary condition amendment is carried out, if recognition result is unsatisfactory for required precision, feeds back to parameter identification module progress
Re-recognize, until meeting required precision.
Step 4：The accurate virtual PM prototype model of bolt-connection mechanical arm is established according to the boundary condition of amendment, such as Fig. 3 institutes
Show, drive system 3 is characterized using virtual prototype mobile foundation 8, characterized using virtual prototype mechanical arm；In mobile foundation and machinery
Contact is defined between arm, bolt connection contact surface is equivalent to linear straight spring 9 and torsionspring 10, the line constraint that will identify that is firm
Degree k, line damping-constraining c are assigned to linear straight spring 9, the torsional restraint rigidity k that will identify thatt, torsional restraint damping ctIt is assigned to torsion
Turn straight spring 10.Analyzed by virtual prototype simulation, confinement mechanism analysis module obtains bolt-connection mechanical arm initial operation stage
The stress of joint portion, such as Fig. 4 it can be seen that the starting stage joint portion of manipulator motion has active force, and it is lower to constrain rigidity
Power effect is more obvious, so as to influence the dynamic characteristic of mechanical arm.According to similar method, confinement mechanism analysis module can also lead to
The initial communication displacement and response speed for crossing bolt-connection mechanical arm are analyzed the confinement mechanism of joint portion.
Step 5：The precise kinetic model of bolt-connection mechanical arm is established according to the boundary condition of amendment, by bolt-connection
The even running process of mechanical arm is divided into Acceleration of starting stage and stable operation stage, to realize different stable uniform velocities,
The starting characteristic in Acceleration of starting stage is set in primary condition emulation module as trapezoidal accelerating velocity characteristic, as shown in figure 5, opening
Dynamic acceleration is 1m/s2, the Acceleration of starting time is 0.01s, 0.02s and 0.03s, the stable operation speed of corresponding mechanical arm 1
Respectively 0.01m/s, 0.02m/s and 0.03m/s.Shaking for Acceleration of starting stage mechanical arm 1 is obtained according to precise kinetic model
Dynamic displacement curve, as shown in fig. 6, thereby determining that mechanical arm 1 stable operation speed 0.01m/s, 0.02m/s and 0.03m/s institute is right
The initial vibration displacement answered is respectively -0.05315mm, -0.1963mm and -0.3675mm, and Acceleration of starting stage mechanical arm 1 shakes
Dynamic rate curve, as shown in fig. 7, thereby determining that mechanical arm 1 stable operation speed 0.01m/s, 0.02m/s and 0.03m/s institute is right
The initial communication speed answered is respectively -11.26mm/s, -15.99mm/s and -15.53mm/s.Then by the initial displacement of determination
Dynamic analysis module, vibration of the dynamic analysis module to stable operation stage mechanical arm 1 are inputed to initial velocity
Characteristic is analyzed, as shown in Figure 8, it can be seen that stable operation stage mechanical arm 1 has obvious oscillation phenomenon, and vibrates
Amplitude becomes big with the increase of movement velocity, according to analysis result by driving of the performance optimization module to bolt-connection mechanical arm
Characteristic optimizes, and determines the optimal starting characteristic of dynamic property and stable operation speed, and feed back to bolt-connection mechanical arm
Drive system 3, thus carry out mechanical arm 1 performance optimization.
It is not difficult to find out, the bolt-connection mechanical arm even running performance analysis system of view-based access control model of the invention observation and side
Method, it can effectively avoid load effect and structure Coupling problem because being brought using vibrating sensor and piezoelectric actuator；The present invention
The constrained parameters identification, the determination of initial communication condition and performance evaluation for combining joint portion optimize in one, it can be considered that due to
The control of installation pretightening force is inaccurate or bolt looseness caused by pretightning force reduce, the factor of boundary stiffness change, and be
The effect of start-up course of uniting initial communication excitation, improves the precision of system performance analysis and the adaptation energy to environmental factor change
Power.
The present invention is exemplarily described above in conjunction with accompanying drawing, it is clear that present invention specific implementation is not by aforesaid way
Limitation, as long as the improvement of the various unsubstantialities of inventive concept and technical scheme of the present invention progress is employed, or without changing
Enter and the design of the present invention and technical scheme are directly applied into other occasions, within protection scope of the present invention.
Claims (10)
1. a kind of system for mechanical arm analysis of running performance, mechanical arm is fixed in drive system by mounting seat, and it is special
Sign is：The vision test device of vibration signal under collection machinery arm motion state is provided with by the mechanical arm, the vision is surveyed
Trial assembly puts the vibration signal that will be gathered and is transferred to detecting and analysing system through signal processing apparatus, and the detecting and analysing system will divide
The modal frequency experimental data that analysis obtains is delivered to recognition system.
2. the system according to claim 1 for mechanical arm analysis of running performance, it is characterised in that：The visual test
The measurement direction of device is consistent with the direction of vibration of mechanical arm.
3. the system according to claim 1 or 2 for mechanical arm analysis of running performance, it is characterised in that：The parameter
The result output module of identifying system is furnished with display unit, and the result output module exports following parameter to display unit and shown
Show, parameter includes installation pedestal and the line of mechanical arm joint portion constrains rigidity, torsional restraint rigidity, line damping-constraining and reversed about
Beam damps.
4. the system according to claim 3 for mechanical arm analysis of running performance, it is characterised in that：The parameter identification
System includes：
Motor pattern setting module：For setting the motor pattern of mechanical arm and the speed of the motor pattern or acceleration magnitude,
And setup parameter is delivered to Dynamic Modeling module and built；
Boundary condition setting module：For set the line constraint rigidity of installation pedestal and mechanical arm joint portion, torsional restraint rigidity,
Line damping-constraining and torsional restraint damping, and setup parameter is delivered to Dynamic Modeling module and built；
Dynamic Modeling module：For establishing the kinetic model of mechanical arm according to the setup parameter of input；
Emulation solves module：For determining edge-restraint condition according to the structural parameters of actual set mechanical arm, and according to power
Learn model and edge-restraint condition and obtain the modal frequency of mechanical arm, and be delivered to Parameter analysis database by modal frequency is defeated；
Parameter analysis database：Modal frequency will be obtained to be stored and be delivered to parameter identification module；
Experimental data load-on module：The modal frequency experimental data of detecting and analysing system is obtained, and by modal frequency experimental data
It is delivered to parameter identification module；
Parameter identification module：According to Parameter analysis database and modal frequency experimental data to installation pedestal and mechanical arm joint portion
Line constraint rigidity, torsional restraint rigidity, line damping-constraining, torsional restraint damping be identified, and recognition result is delivered to
As a result output module.
5. the system according to claim 4 for mechanical arm analysis of running performance, it is characterised in that：The result output
Module exports recognition result to authentication module, and the authentication module is used to judge whether recognition result meets required precision, and will
The signal for being unsatisfactory for required precision is delivered to parameter identification module, and the signal for meeting required precision is delivered into performance evaluation system
System, the performance analysis system export revise signal to drive system.
6. it is used for the system of mechanical arm analysis of running performance according to claim 1 or 5, it is characterised in that：The machinery
Arm is bolted in installation pedestal by multiple, and the drive system control machinery arm carries out translational motion and rotary motion.
7. based on the analysis method for the system for being used for mechanical arm analysis of running performance described in claim any one of 1-6, its feature
It is：
Step 1, recognition system obtain the modal frequency of mechanical arm according to setup parameter
Step 2, the current vibration signal of mechanical arm is obtained using vision test device, and vibration signal processing is obtained into mode frequency
Recognition system is delivered to after rate experimental data；
Step 3, the parameter identification module of recognition system are according to Parameter analysis database and modal frequency experimental data, to machine
The line constraint rigidity of tool arm joint portion, torsional restraint rigidity, line damping-constraining, torsional restraint damping are identified, and verify knowledge
Whether other result meets required precision, if recognition result meets required precision, according to the line constraint rigidity identified, reverses about
Shu Gangdu, line damping-constraining, torsional restraint damping carry out boundary condition amendment, if recognition result is unsatisfactory for required precision, instead
Parameter identification module of feeding is re-recognized, until meeting required precision；
Step 4, the accurate virtual PM prototype model for establishing according to the boundary condition of amendment mechanical arm, according to virtual prototype simulation point
Analysis, the confinement mechanism of confinement mechanism analysis module mechanical arm joint portion are analyzed；
Step 5, the precise kinetic model for establishing according to the boundary condition of amendment bolt-connection mechanical arm, according to precise kinetic
Model obtains the vibration displacement curve of Acceleration of starting stage mechanical arm, and the initial displacement of determination and initial velocity are inputed into dynamic
Specificity analysis module, dynamic analysis module are analyzed the vibration characteristics of stable operation stage mechanical arm, it is determined that dynamic
The starting characteristic and stable operation speed of best performance, and feed back to the drive system of bolt-connection mechanical arm.
8. analysis method according to claim 7, it is characterised in that：The step 1 comprises the following steps：
1) motor pattern setting module is by the motor pattern of the mechanical arm of setting and the speed or acceleration magnitude parameter of the motion
It is delivered to Dynamic Modeling module；
2) boundary condition setting module is firm by the line of the installation pedestal of setting and mechanical arm joint portion constraint rigidity, torsional restraint
Degree, line damping-constraining and torsional restraint damping parameter are delivered to Dynamic Modeling module；
3) Dynamic Modeling module leads to the kinetic model that acquired parameter establishes mechanical arm；
4) emulation solves structural parameters of the module according to actual set mechanical arm, it is determined that firm containing wired constraint rigidity, torsional restraint
The edge-restraint condition for the mechanical arm that degree, line damping-constraining, torsional restraint damp；
5) modal mass and modal stiffness of mechanical arm are extracted according to kinetic model and edge-restraint condition；
6) solved to obtain the modal frequency of mechanical arm according to modal mass and modal stiffness, and input parameter analytical database is carried out
Storage.
9. analysis method according to claim 7, it is characterised in that：Method, which is identified, in the step 3 includes：According to
Proportion during identification shared by each rank modal frequency, the weight coefficient of each rank modal frequency is determined, with the error of each rank modal frequency
The minimum object function of quadratic sum, determine that each rank modal frequency institute that error of fitting quadratic sum is minimum in Parameter analysis database is right
Line constraint rigidity, torsional restraint rigidity, line damping-constraining and the torsional restraint damping answered.
10. analysis method according to claim 9, it is characterised in that：Verify whether recognition result meets in the step 3
The method of required precision includes：Authentication module constrains rigidity, torsional restraint rigidity, line damping-constraining, torsion according to the line identified
Turn damping-constraining, establish the FEM model and virtual prototype of mechanical arm respectively, the mode emulated by FEM model
As a result compared with the modal frequency experimental data of reality, and the vibration displacement result of virtual prototype emulation is shaken with actual
Dynamic displacement data compares, and double verification is carried out to recognition result.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110757463A (en) * | 2019-11-20 | 2020-02-07 | 贵州大学 | Manipulator grabbing force control method and device |
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2017
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110757463A (en) * | 2019-11-20 | 2020-02-07 | 贵州大学 | Manipulator grabbing force control method and device |
| CN110757463B (en) * | 2019-11-20 | 2023-06-27 | 贵州大学 | Mechanical arm grabbing force control method and device |
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