CN110053037A - The method that the joint moment of robot determines - Google Patents
The method that the joint moment of robot determines Download PDFInfo
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- CN110053037A CN110053037A CN201910324624.1A CN201910324624A CN110053037A CN 110053037 A CN110053037 A CN 110053037A CN 201910324624 A CN201910324624 A CN 201910324624A CN 110053037 A CN110053037 A CN 110053037A
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- connecting rod
- inertia
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- rotor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides the methods that a kind of joint moment of robot determines.The following steps are included: one equivalent rotor of setting, the first connecting rod of robot is connected with the first end of equivalent rotor, the second end of equivalent rotor is connected with second connecting rod, revolute pair is provided between first connecting rod and equivalent rotor, is provided with fixed joint between second connecting rod and equivalent rotor；It is the first preset value by the quality settings of equivalent rotor, the inertia value that the axis of equivalent rotor and second connecting rod is arranged is the second preset value；Apply driving force at least one of revolute pair and fixed joint, so that second connecting rod does simulation job, establishes torque function by connecting the torque data of torsional spring of second connecting rod, the model of actually required speed reducer is determined according to torque function.The suitable motor of robotic asssembly and speed reducer can be given using this method, the positioning accuracy of robot is effectively improved, improves the stability and reliability of robot.
Description
Technical field
The present invention relates to robot device's technical fields, determine in particular to a kind of joint moment of robot
Method.
Background technique
Current most of industrial robots all use servo motor as power source, defeated using power of the speed reducer to motor
Deceleration torque increase is carried out out, and then drives each joint motions of robot.It needs in robot development phase according to 3D normatron
The driving moment in each joint of device people, and in this, as the foundation of motor and speed reducer type selecting, therefore, the number of joint of robot torque
Value accuracy is vital.However, most common calculation method is to carry out emulation meter using dynamics simulation software
It calculates, because of the inertia of not explicit step setting motor reducer in simulation software, reckoner is caused usually to have ignored motor
Influence with speed reducer itself inertia to joint moment causes the type selecting of motor reducer less than normal, causes robot to exist unstable
The hidden danger that the qualitative and service life shortens.Especially with the 4th of robot the, 5,6 shaft distortions it is more obvious.
Summary of the invention
The main purpose of the present invention is to provide the methods that a kind of joint moment of robot determines, to solve the prior art
The unstable problem of middle robot.
To achieve the goals above, according to an aspect of the invention, there is provided what a kind of speed reducer of robot determined
Method, method is the following steps are included: be arranged an equivalent rotor, by the first end phase of the first connecting rod of robot and equivalent rotor
Connection, the second end of equivalent rotor is connected with second connecting rod, wherein rotation is provided between first connecting rod and equivalent rotor
Pair is provided with fixed joint between second connecting rod and equivalent rotor；It is the first preset value, setting etc. by the quality settings of equivalent rotor
The inertia value for imitating the axis of rotor and second connecting rod is the second preset value；Apply at least one of revolute pair and fixed joint and drives
Power establishes torque function by connecting the torque data of torsional spring of second connecting rod so that second connecting rod does simulation job, according to
Torque function determines the model of actually required motor and speed reducer.
Further, the first preset value is 1g.
Further, the second preset value is the inertia of equivalent rotor and the sum of the high speed shaft inertia of default speed reducer.
Further, the inertia of equivalent rotor is Jm, wherein Jm=J1*R2, J1 is equivalent rotor inertia, and R is the second company
The total reduction ratio of bar.
Further, the high speed shaft inertia for presetting speed reducer is Jr, wherein Jr=J2*r2, J2 is the high speed shaft of speed reducer
Inertia, r be speed reducer reduction ratio.
Further, when the inertia of the axis of second connecting rod is the second preset value, and second connecting rod is located at X-axis, Y-axis, Z axis
In one it is upper when, X-axis, Y-axis, the inertia value on other two direction in Z axis are third preset value, and third preset value is
1kg·mm2。
It applies the technical scheme of the present invention, using this method, the quality by the way that equivalent rotor is arranged is the first preset value, and
It is the second preset value by the inertia value of equivalent rotor and the axis of second connecting rod, is applied at least one of revolute pair and fixed joint
Add driving force, so that second connecting rod does simulation job, establish torque function by connecting the torque data of torsional spring of second connecting rod,
The model of actually required motor and speed reducer is determined according to torque function.Can suitably it be subtracted to robotic asssembly using this method
Fast machine effectively improves the positioning accuracy of robot, improves the stability and reliability of robot.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present invention, and of the invention shows
Examples and descriptions thereof are used to explain the present invention for meaning property, does not constitute improper limitations of the present invention.In the accompanying drawings:
The flow diagram of the embodiment for the method that the joint moment that Fig. 1 shows robot according to the present invention determines；
Fig. 2 shows the structural schematic diagrams of the embodiment of robot according to the present invention.
Wherein, the above drawings include the following reference numerals:
10, pedestal；
20, first connecting rod；
30, rigid rotator；
40, second connecting rod.
Specific embodiment
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
It should be noted that term " first ", " second " etc. in the description and claims of this application and attached drawing
It is to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that the art used in this way
Language is interchangeable under appropriate circumstances, so that presently filed embodiment described herein for example can be in addition to illustrating herein
Or the sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process, method, system, product or equipment of a series of steps or units need not limit
In step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, produce
The other step or units of product or equipment inherently.
For ease of description, spatially relative term can be used herein, as " ... on ", " ... top ",
" ... upper surface ", " above " etc., for describing such as a device shown in the figure or feature and other devices or spy
The spatial relation of sign.It should be understood that spatially relative term is intended to comprising the orientation in addition to device described in figure
Except different direction in use or operation.For example, being described as if the device in attached drawing is squeezed " in other devices
It will be positioned as " under other devices or construction after part or construction top " or the device of " on other devices or construction "
Side " or " under other devices or construction ".Thus, exemplary term " ... top " may include " ... top " and
" in ... lower section " two kinds of orientation.The device can also be positioned with other different modes and (is rotated by 90 ° or in other orientation), and
And respective explanations are made to the opposite description in space used herein above.
Now, the illustrative embodiments according to the application are more fully described with reference to the accompanying drawings.However, these are exemplary
Embodiment can be implemented by many different forms, and should not be construed to be limited solely to embodiment party set forth herein
Formula.It should be understood that it is thoroughly and complete to these embodiments are provided so that disclosure herein, and these are shown
The design of example property embodiment is fully conveyed to those of ordinary skill in the art, in the accompanying drawings, for the sake of clarity, it is possible to expand
The big thickness of layer and region, and make that identical device is presented with like reference characters, thus omission retouches them
It states.
Referring to figs. 1 and 2, according to an embodiment of the invention, what the joint moment for providing a kind of robot determined
Method.
As shown in Figure 1, method includes the following steps: step 1: one equivalent rotor of setting connects the first of robot
Bar is connected with the first end of equivalent rotor, and the second end of equivalent rotor is connected with second connecting rod, wherein first connecting rod with
It is provided with revolute pair between equivalent rotor, is provided with fixed joint between second connecting rod and equivalent rotor.Step 2: by equivalent rotor
Quality settings be the first preset value, be arranged the axis of equivalent rotor and second connecting rod inertia value be the second preset value.Step
3: applying driving force at least one of revolute pair and fixed joint, so that second connecting rod does simulation job, pass through connection second
The torque data of the torsional spring of connecting rod establishes torque function, and the model of actually required motor and speed reducer is determined according to torque function.
In the present embodiment, using this method, the quality by the way that equivalent rotor is arranged is the first preset value, and by equivalent turn
The inertia value of son and the axis of second connecting rod is the second preset value, applies at least one of revolute pair and fixed joint and drives
Power establishes torque function by connecting the torque data of torsional spring of second connecting rod, according to torsion so that second connecting rod does simulation job
Moment function determines the model of actually required motor and speed reducer.The suitable speed reducer of robotic asssembly can be given using this method,
The positioning accuracy for effectively improving robot improves the stability and reliability of robot.
Specifically, the first preset value is 1g.Second preset value is the inertia of equivalent rotor and the high speed shaft of default speed reducer
The sum of inertia.The inertia of equivalent rotor is Jm, wherein Jm=J1*R2, J1 is equivalent rotor inertia, and R is always subtracting for second connecting rod
Speed ratio.The high speed shaft inertia of default speed reducer is Jr, wherein Jr=J2*r2, J2 is the inertia of the high speed shaft of speed reducer, and r is to subtract
The reduction ratio of fast machine.When the inertia of the axis of second connecting rod is the second preset value, and second connecting rod is located at X-axis, Y-axis, in Z axis
One it is upper when, X-axis, Y-axis, the inertia value on other two direction in Z axis are third preset value, and third preset value is 1kg
mm2。
In the present embodiment, by the equivalent rotor at the high inertia of low quality of rotor inertia and speed reducer inertia,
The rotor is bound together with joint loads again, the method for carrying out simulation calculation machine person joint's torque using Adams software.
It seeks the equivalent value Jm to load end of rotor inertia first, then seeks the equivalent load end that arrives of speed reducer high speed shaft inertia
The quality of value Jr, the high inertia rotor of manual setting low quality are as small as possible, such as 1 (g), and the inertia of its opposed articulation axis is arranged
For Jm+Jr, the inertia of other directions (Z axis, Y-axis, any two in X-axis) is as small as possible, such as 1 (Kg.mm2), hand herein
Dynamic setting value as small as possible is to allow the high inertia rotor of low quality to be only to consider the inertia of motor reducer to system
It influences, without bringing other unrelated error parameters into.So far consider that the Dynamic Models of Robot Manipulators of motor and speed reducer is built
It is good, one object run track of robot is given, joint moment function of the robot on this track can be established.Using this method
The perfect dynamic performance of robot, provides most accurate joint moment information for the motor reducer type selecting of robot.
By the equivalent rotor at the high inertia of low quality of rotor inertia and speed reducer inertia, then by the rotor and close
Section load is bound together, and carries out simulation calculation machine person joint's torque using ADAMS software specifically:
1, the equivalent inertia value Jm to joint loads end of rotor inertia is calculated:
Jm=J1*R2, in formula: J1 is the inertia of the equivalent rotor of motor, can be found from the type selecting handbook of motor, R is
The total reduction ratio in joint.
2, the equivalent inertia value Jm to joint loads end of speed reducer high speed shaft inertia is calculated:
Jr=J2*r2, in formula: J2 is the inertia of speed reducer high speed shaft, can be found from the type selecting handbook of speed reducer, r is
The reduction ratio of speed reducer can be found from the type selecting handbook of speed reducer.
3, Dynamics Simulation Model is built in Adams, by taking a joint of robot as an example:
An equivalent rotor is established between first connecting rod and second connecting rod, and equivalent rotor and second connecting rod is allowed to pass through fixation
Pair binding is that fixed joint becomes an entirety together, then is connected first connecting rod and second connecting rod by revolute pair.Hand
The quality of the dynamic equivalent rotor of setting is as small as possible, such as 1 (g), and the inertia of the axis in equivalent rotor and second connecting rod joint is arranged
Inertia for Jm+Jr, other directions is as small as possible, such as 1 (Kg.mm2), manual setting value as small as possible is to allow herein
The high inertia rotor of low quality is only influence of the inertia of consideration motor reducer to system, without bringing other unrelated errors into
Parameter.
4, driving function is added:
Driving is added in revolute pair, that is, revolute pair between first connecting rod and second connecting rod, and establishes torque function, is enabled
Robot is run according to goal-selling track.
5, joint moment is obtained:
The simulation modelling in Adams, extraction machine person joint's torque simulation calculation structure, so that it is determined that actually required out
The model of speed reducer.
Further, as shown in Fig. 2, according to another aspect of the present invention, providing a kind of robot.The robot includes
Pedestal 10, first connecting rod 20, rigid rotator 30 and second connecting rod 40.The first end of first connecting rod 20 is connected with pedestal 10.Just
Property rotor 30 first end be connected with first connecting rod 20 by revolute pair.The second end of rigid rotator 30 passes through fixed joint and the
Two connecting rods 40 are connected.The structure of the robot is simple, easy to operate.Wherein, revolute pair is hinge arrangement.Fixed joint is hinge
Structure.Driving force can be applied to revolute pair, so that the rotation of second connecting rod 40 is to carry out simulation job.Rigid rotator 30 and second connects
Torsional spring is provided between bar 40.The practical model of speed reducer needed for being used to simulate robot in practice using the robot.
Than that described above, it is also necessary to which explanation is " one embodiment " spoken of in the present specification, " another implementation
Example ", " embodiment " etc. refer to that specific features, structure or the feature of embodiment description is combined to be included in the application summary
Property description at least one embodiment in.It is not centainly to refer to the same reality that statement of the same race, which occur, in multiple places in the description
Apply example.Furthermore, it is understood that is advocated is knot when describing a specific features, structure or feature in conjunction with any embodiment
Other embodiments are closed to realize that this feature, structure or feature are also fallen within the scope of the present invention.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, reference can be made to the related descriptions of other embodiments.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (6)
1. the method that a kind of joint moment of robot determines, which is characterized in that the described method comprises the following steps:
One equivalent rotor is set, the first connecting rod of robot is connected with the first end of the equivalent rotor, it will be described etc.
The second end of effect rotor is connected with second connecting rod, wherein is provided with rotation between the first connecting rod and the equivalent rotor
Pair is provided with fixed joint between the second connecting rod and the equivalent rotor；
It is the first preset value by the quality settings of the equivalent rotor, the axis of the equivalent rotor and the second connecting rod is set
Inertia value be the second preset value；
Apply driving force at least one of the revolute pair and the fixed joint, so that the second connecting rod does simulation and makees
Industry is established torque function by connecting the torque data of torsional spring of the second connecting rod, is determined according to the torque function practical
The model of required motor and speed reducer.
2. the method according to claim 1, wherein first preset value is 1g.
3. the method according to claim 1, wherein second preset value be the equivalent rotor inertia with
The sum of the high speed shaft inertia of default speed reducer.
4. according to the method described in claim 3, it is characterized in that, the inertia of the equivalent rotor is Jm, wherein Jm=J1*
R2, J1 is the inertia of equivalent rotor, and R is the total reduction ratio of the second connecting rod.
5. according to the method described in claim 4, it is characterized in that, the high speed shaft inertia of the default speed reducer is Jr, wherein
Jr=J2*r2, J2 is the inertia of the high speed shaft of speed reducer, and r is the reduction ratio of speed reducer.
6. the method according to claim 1, wherein when the inertia of the axis of the second connecting rod is described second
Preset value, and the second connecting rod be located at X-axis, Y-axis, one in Z axis it is upper when, the X-axis, the Y-axis, in the Z axis
Inertia value on other two direction is third preset value, and the third preset value is 1kgmm2。
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910324624.1A CN110053037B (en) | 2019-04-22 | 2019-04-22 | Method for determining joint moment of robot |
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| CN201910324624.1A CN110053037B (en) | 2019-04-22 | 2019-04-22 | Method for determining joint moment of robot |
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| CN110053037A true CN110053037A (en) | 2019-07-26 |
| CN110053037B CN110053037B (en) | 2021-04-09 |
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| CN108714896A (en) * | 2018-05-28 | 2018-10-30 | 华南理工大学 | A kind of robot flexibility torque feed forward control method based on kinetics of deformable bodies model |
| CN109543332A (en) * | 2018-11-30 | 2019-03-29 | 东北大学 | A kind of seriation robot wrist retarder selection method |
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2019
- 2019-04-22 CN CN201910324624.1A patent/CN110053037B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110190934A1 (en) * | 2010-02-02 | 2011-08-04 | Gm Global Technology Operations, Inc. | Architecture for robust force and impedance control of series elastic actuators |
| CN104484496A (en) * | 2014-11-17 | 2015-04-01 | 东莞市汉翔机械设备有限公司苏州分公司 | Electric cylinder selection system |
| CN105479452A (en) * | 2016-01-27 | 2016-04-13 | 南京埃斯顿机器人工程有限公司 | Motor output gear mechanism for robot joint servo motor inertia matching |
| CN108527365A (en) * | 2018-03-21 | 2018-09-14 | 清华大学 | A kind of high speed parallel robot drive system parameters optimized Selection method |
| CN108714896A (en) * | 2018-05-28 | 2018-10-30 | 华南理工大学 | A kind of robot flexibility torque feed forward control method based on kinetics of deformable bodies model |
| CN109543332A (en) * | 2018-11-30 | 2019-03-29 | 东北大学 | A kind of seriation robot wrist retarder selection method |
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| CN110053037B (en) | 2021-04-09 |
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