CN108393928A - Multi-rigid body-finite element hybrid analysis of flexible robot's robot contact collision - Google Patents
Multi-rigid body-finite element hybrid analysis of flexible robot's robot contact collision Download PDFInfo
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- CN108393928A CN108393928A CN201810076053.XA CN201810076053A CN108393928A CN 108393928 A CN108393928 A CN 108393928A CN 201810076053 A CN201810076053 A CN 201810076053A CN 108393928 A CN108393928 A CN 108393928A
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- 238000004458 analytical method Methods 0.000 title claims abstract description 34
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- 238000006243 chemical reaction Methods 0.000 claims abstract description 4
- 239000000463 material Substances 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 7
- 238000002203 pretreatment Methods 0.000 claims description 4
- 238000000926 separation method Methods 0.000 claims description 4
- 238000004088 simulation Methods 0.000 claims description 2
- 229920000034 Plastomer Polymers 0.000 claims 1
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- 230000003252 repetitive effect Effects 0.000 abstract description 2
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Classifications
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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
- B25J19/0095—Means or methods for testing manipulators
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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
- B25J19/007—Means or methods for designing or fabricating manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
- G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
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Abstract
The invention discloses a kind of multi-rigid body finite element hybrid analysis of flexible robot's robot contact collision, and the link bolt and spring in finite element model are simulated using equivalent unit；In calculating process, mechanical arm not in contact with when rigid body algorithm used using mechanical arm, multi-rigid body/finite element hybrid analysis is carried out using deformable body algorithm when contact.The present invention's solves the problems, such as the low problem low with computational accuracy of robot arm contact-impact computational efficiency.When analyzing robot arm contact-impact, it is only necessary to by changing K files, so that it may to realize the conversion of rigid body and deformable body, reduce repetitive work, reduce the technology time, improve working efficiency.
Description
Technical field
The invention belongs to contact-impact analytical technologies, and in particular to a kind of collision of flexible robot's robot contact mostly just
Body-finite element hybrid analysis.
Background technology
With the development of science and technology, robot arm has been widely used in every field, such as：Aerospace, depth
Extra large detection, industry, agricultural etc..Contact-impact is also mechanical arm problem common in engineering and life application.
The life of contact-impact and the mankind are closely bound up, both advantageous and disadvantageous to the production and living of the mankind, such as：When on foot foot and
The problems such as friction on ground is impacted, the contact-impact during space probe spacecrafts rendezvous, the brake and collision of automobile.Locating
When managing contact-impact problem, more or in order to eliminate the detrimental effect of contact-impact, such as the mill of reduction mechanical structure
Damage improves the service life of machinery, avoids the excess loss of energy.Just there is relevant scholar for contact-impact a long time ago
Problem is studied, and has also obtained many relevant theories, and be widely applied to machinery field.But contact-impact
Process, be a very complicated process, currently still there are many it is difficult still unresolved.
In the correlative study for carrying out contact-impact analysis, the straightforward procedure for describing dynamic Contact problem is calculated using rigid body
Method does not consider the deformation of object.Although shorter using the rigid body algorithm calculating time, need to introduce recovery coefficient, Er Qiegang
The computational accuracy of body algorithm is relatively low, cannot obtain the deformation of contact area or is stress wave.
Complicated approach regards object as deformable body, using flexible algorithm, is calculated with FInite Element or boundary element method.Using elasticity
Although the precision that algorithm calculates is higher and can obtain unavailable data in some rigid body algorithms, calculation amount is very big,
And often due to calculation amount is excessive and is unable to get result.
Invention content
The purpose of the present invention is to provide multi-rigid body-finite element hybrid analysis sides of flexible robot's robot contact collision
Method solves the problems, such as the low problem low with computational accuracy of existing robot arm contact-impact finite element analysis computation efficiency.
Realize that the technical solution of the object of the invention is：A kind of multi-rigid body-of flexible robot's robot contact collision
Finite element hybrid analysis, method and step are as follows：
Step 1 utilizes the bolt and spring in the finite element model of equivalent unit simulation flexible robot's mechanical arm, specific steps
It is as follows：
Step S1 establishes the three-dimensional CAD model of flexible robot's mechanical arm；
Step S2 checks established three-dimensional CAD model；
The three-dimensional CAD model obtained in the step S1 is imported into Hypermesh pre-treatment environment by step S3；
Step S4, by the three-dimensional CAD model obtained in step S1 link bolt and spring delete, and by remaining mechanical arm
Part carries out the division of grid；
Step S5 establishes rotation hinge unit at the position for the link bolt deleted in step s 4, while establishing bullet at this
Spring unit；
Step S6, defines the cell attribute and material parameter of mechanical arm section and spring unit, and is given to them；
Step S7 adds load and constraint, generates the K files solved with nonlinear finite element solver, is transferred to step 2.
Step 2, in calculating process, flexible robot's mechanical arm not in contact with when multi-rigid body/have carried out using rigid body algorithm
The first hybrid analysis of limit；Multi-rigid body/finite element hybrid analysis is carried out using deformable body algorithm when contact.Wherein, Stiff algorithms and change
The conversion of body algorithm is as follows：
The time for starting time of contact and contact separation is determined by calculation in step S8；
The K files generated described in step S9, opening steps S7, modify, and the sentence converted for rigid body and deformable body is added,
Generate new K files；
The new K files generated in step S9 are imported into nonlinear finite element solver and carried out at analysis and data by step S10
Reason.
Compared with prior art, the present invention its remarkable advantage is：The hinge in finite element model is simulated using equivalent unit
Connecting bolt and spring carry out the more careful processing in part in contact area.In calculating process, mechanical arm not in contact with when use
Mechanical arm uses rigid body algorithm, carries out multi-rigid body-finite element hybrid analysis using deformable body algorithm when contact.Man-machine to machine
When the collision of tool arm contact is analyzed, it is only necessary to by changing K files, so that it may to realize the conversion of rigid body and deformable body, reduce
Repetitive work, reduces the technology time, improves working efficiency.
Description of the drawings
Fig. 1 is that the multi-rigid body-finite element for flexible robot's robot contact collision that the preferred embodiment of the present invention provides is mixed
Close the flow chart of analysis method.
Fig. 2 is the node and coordinate diagram that the spring unit provided is preferably implemented in the present invention.
Fig. 3 is the finite element model that flexible robot's mechanical arm that the preferred embodiment of the present invention provides provides.
Specific implementation mode
Present invention is further described in detail below in conjunction with the accompanying drawings.
In conjunction with Fig. 1, a kind of multi-rigid body-finite element hybrid analysis of flexible robot's robot contact collision, method
Steps are as follows：
Step 1, using equivalent unit simulate flexible robot's mechanical arm finite element model in bolt and spring, wherein equivalent
Unit includes a rotation hinge unit and a spring unit, and rotation hinge unit simulates the link bolt of finite element model,
Spring unit simulates the spring in finite element model, and the specific method is as follows：
Step S1 establishes the three-dimensional CAD model of flexible robot's mechanical arm；
Step S2 checks established three-dimensional CAD model；
The three-dimensional CAD model obtained in the step S1 is imported into Hypermesh pre-treatment environment by step S3；
Step S4, by the three-dimensional CAD model obtained in step S1 link bolt and spring delete, and by remaining mechanical arm
Part carries out the division of grid；
Step S5 establishes rotation hinge unit at the position for the link bolt deleted in step s 4, while establishing bullet at this
Spring unit；
Step S6, defines the cell attribute and material parameter of mechanical arm section and spring unit, and is given to them；
Step S7 adds load and constraint, generates the K files solved with nonlinear finite element solver, is transferred to step 2.
Step 2, in calculating process, flexible robot's mechanical arm not in contact with when multi-rigid body/have carried out using rigid body algorithm
The first hybrid analysis of limit；Multi-rigid body/finite element hybrid analysis is carried out using deformable body algorithm when contact, is as follows：
The time for starting time of contact and contact separation is determined by calculation in step S8；
The K files generated described in step S9, opening steps S7, modify, and the sentence converted for rigid body and deformable body is added,
Generate new K files；Keyword in the K files converted between the rigid body and deformable body is as follows：
*DEFORMABLE_TO_RIGID_AUTOMATIC 。
The new K files generated in step S9 are imported into nonlinear finite element solver and carry out analysis sum number by step S10
According to processing.
The spring unit is torsionspring unit, and parameter is stiffness coefficient k and damped coefficient c.
The material properties of the rigid body algorithm are set as rigid body, and the material of deformable body algorithm is set as deformable body or bullet modeling
Body.
The rigid body uses same material parameter, rigid body to use same material parameter with lastics with deformable body.
Embodiment 1
As shown in figure 3, the module of flexible robot's mechanical arm includes fixed disk 1, double link mechanical arm connecting shaft 2, first
Connecting rod 3, spring 4, link bolt 5, second connecting rod 6, sliding plate 7.Fixed disk 1 is fixed in a certain mechanism, double link connection
2 one end of axis is connected with fixed disk 1, and the other end is rotatablely connected with 3 one end of first connecting rod.3 other end of first connecting rod passes through 4 He of spring
Articulated shaft 5 and one end of second connecting rod 6 are rotatablely connected, and 6 other end of second connecting rod is contacted with sliding plate 7.
In the present embodiment, the equivalent unit is a rotation hinge unit and a spring unit, rotates hinge unit
The link bolt of finite element model is simulated, spring unit simulates the spring in finite element model.As shown in Fig. 2, spring unit
Both ends are respectively provided with inode and J node, and the parameter of spring unit further includes stiffness coefficient k and damped coefficient c.In contact area
Carry out the more careful processing in part；In calculating process, mechanical arm is not in contact with when using mechanical arm using rigid body algorithm, contact
Shi Caiyong deformable body algorithms carry out multi-rigid body/finite element hybrid analysis.
When mechanical arm is not in contact, two stages detached before contacting and after contact are referred to.
A kind of multi-rigid body-finite element hybrid analysis of flexible robot's robot contact collision of the present invention,
It is as follows：
Step 1, using equivalent unit simulate flexible robot's mechanical arm finite element model in bolt and spring, wherein equivalent
Unit includes a rotation hinge unit and a spring unit, and rotation hinge unit simulates the link bolt of finite element model,
Spring unit simulates the spring in finite element model, and the specific method is as follows：
Step S1 establishes the three-dimensional CAD model of flexible robot's mechanical arm；
Step S2 checks established three-dimensional CAD model；
The three-dimensional CAD model obtained in the step S1 is imported into Hypermesh pre-treatment environment by step S3；
Step S4, by the three-dimensional CAD model obtained in step S1 link bolt and spring delete, and by remaining mechanical arm
Part carries out the division of grid；
Step S5 establishes rotation hinge unit at the position for the link bolt deleted in step s 4, while establishing bullet at this
Spring unit；
Step S6, defines the cell attribute and material parameter of mechanical arm section and spring unit, and is given to them；
Step S7 adds load and constraint, generates the K files solved with nonlinear finite element solver, is transferred to step 2.
Step 2, in calculating process, flexible robot's mechanical arm not in contact with when multi-rigid body/have carried out using rigid body algorithm
The first hybrid analysis of limit；Multi-rigid body/finite element hybrid analysis is carried out using deformable body algorithm when contact, is as follows：
The time for starting time of contact and contact separation is determined by calculation in step S8；
The K files generated described in step S9, opening steps S7, modify, and the sentence converted for rigid body and deformable body is added,
Generate new K files；Keyword in the K files converted between the rigid body and deformable body is as follows：
*DEFORMABLE_TO_RIGID_AUTOMATIC 。
The new K files generated in step S9 are imported into nonlinear finite element solver and carry out analysis sum number by step S10
According to processing.
In Hypermesh cell libraries, spring unit has axial direction and twisting property, utilizes the torsion of the spring unit
Can, spring unit entitled spring in Hypermesh, when use it needs to be determined that parameter have：Stiffness coefficient k and damping are
Number c is determined by the parameter of actual spring.
In Hypermesh, link bolt is deleted, while rotation hinge unit and spring unit are established in hinged place.
In order to analyze the collision of flexible robot's robot contact, it is contemplated that run duration before the contact of mechanical arm relative to
The time of contact process is larger, it is contemplated that saves and calculates the time, the movement of the robot arm before contact can use multi-rigid body
Algorithm calculates；Since material damping will fade away, object of which movement is mainly shown as rigid motion for elastic vibration caused by collision,
This appropriate to the occasion multi-rigid body algorithm calculating；But in object contact process, contact force frequency very amplitude is very big, and the deformation of object must
It must pay attention to, preferably use FEM calculation.Therefore it can be realized only in contact-impact mistake by the modification of the K files of LS-DYNA
Journey is calculated with deformable body algorithm, the purpose that other motion processes are calculated with multi-rigid body algorithm.
Claims (8)
1. a kind of multi-rigid body-finite element hybrid analysis of flexible robot's robot contact collision, which is characterized in that method
Steps are as follows：
Step 1, using equivalent unit simulate flexible robot's mechanical arm finite element model in bolt and spring, be transferred to step
2；
Step 2, in calculating process, flexible robot's mechanical arm not in contact with when using rigid body algorithm carry out multi-rigid body/finite element
Hybrid analysis；Multi-rigid body/finite element hybrid analysis is carried out using deformable body algorithm when contact.
2. multi-rigid body-finite element hybrid analysis of flexible robot's robot contact collision according to claim 1,
It is characterized in that：In the step 1, equivalent unit includes a rotation hinge unit and a spring unit, rotating hinge order
The link bolt of member simulation finite element model, spring unit simulate the spring in finite element model.
3. multi-rigid body-finite element hybrid analysis side of flexible robot's robot contact collision according to claim 1 or 2
Method, which is characterized in that in above-mentioned steps 1, the spiral shell in the finite element model of flexible robot's mechanical arm is simulated using equivalent unit
Bolt and spring, are as follows：
Step S1 establishes the three-dimensional CAD model of flexible robot's mechanical arm；
Step S2 checks established three-dimensional CAD model；
The three-dimensional CAD model obtained in the step S1 is imported into Hypermesh pre-treatment environment by step S3；
Step S4, by the three-dimensional CAD model obtained in step S1 link bolt and spring delete, and by remaining mechanical arm
Part carries out the division of grid；
Step S5 establishes rotation hinge unit at the position for the link bolt deleted in step s 4, while establishing bullet at this
Spring unit；
Step S6, defines the cell attribute and material parameter of mechanical arm section and spring unit, and is given to them；
Step S7 adds load and constraint, generates the K files solved with nonlinear finite element solver, is transferred to step 2.
4. multi-rigid body-finite element hybrid analysis of flexible robot's robot contact collision according to claim 3,
It is characterized in that, the spring unit is torsionspring unit, parameter is stiffness coefficient k and damped coefficient c.
5. multi-rigid body-finite element hybrid analysis of flexible robot's robot contact collision according to claim 3,
It is characterized in that：In above-mentioned steps 2, Stiff algorithms and the conversion of deformable body algorithm are as follows：
The time for starting time of contact and contact separation is determined by calculation in step S8；
The K files generated described in step S9, opening steps S7, modify, and the sentence converted for rigid body and deformable body is added,
Generate new K files；
The new K files generated in step S9 are imported into nonlinear finite element solver and carried out at analysis and data by step S10
Reason.
6. multi-rigid body-finite element hybrid analysis of flexible robot's robot contact collision according to claim 5,
It is characterized in that：Keyword in the K files converted between the rigid body and deformable body is as follows：
*DEFORMABLE_TO_RIGID_AUTOMATIC 。
7. multi-rigid body-finite element hybrid analysis of flexible robot's robot contact collision according to claim 5,
It is characterized in that：The material properties of the rigid body algorithm are set as rigid body, and the material of deformable body algorithm is set as deformable body or bullet
Plastomer.
8. multi-rigid body-finite element hybrid analysis of flexible robot's robot contact collision according to claim 5,
It is characterized in that：The rigid body uses same material parameter, rigid body to use same material parameter with lastics with deformable body.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112131658A (en) * | 2020-08-28 | 2020-12-25 | 南京理工大学 | Automobile bumper and railing collision finite element analysis method |
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| CN102637228A (en) * | 2012-04-05 | 2012-08-15 | 天津大学 | Serial robot structural design optimization method |
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| CN106737855A (en) * | 2016-08-22 | 2017-05-31 | 南京理工大学 | A kind of robot precision compensation method of comprehensive position and attitude error model and rigidity compensation |
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Patent Citations (6)
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| US20110245970A1 (en) * | 2010-04-02 | 2011-10-06 | Gm Global Technology Operations, Inc. | Systems and Methods for Evaluating Braking Performance |
| CN102222137A (en) * | 2011-05-30 | 2011-10-19 | 山东理工大学 | Fire-fighting robot arm double-coupling simulation method |
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