CN109551521B - Six-degree-of-freedom parallel robot rigidity weak link quantitative testing device and method - Google Patents
Six-degree-of-freedom parallel robot rigidity weak link quantitative testing device and method Download PDFInfo
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Abstract
The invention discloses a six-degree-of-freedom parallel robot rigidity weak link quantitative testing device which comprises a six-degree-of-freedom parallel robot, a target ball, a carrying block and a laser tracker, wherein the six-degree-of-freedom parallel robot consists of a fixed platform and a movable platform, the six-degree-of-freedom parallel robot is a six-branched-chain parallel mechanism, two ends of six branched chains are respectively connected onto the fixed platform and the movable platform, the carrying block is fixed on the movable platform through screws, six moving positions of a ball hinge at the lower end of the fixed platform and the movable platform are sequentially provided with a reference position, a weak position and a movable position, the target ball is uniformly arranged in a ring and is respectively fixed on the reference position, the weak position and the movable position, and the laser tracker measures the position of the target ball. The six-freedom-degree parallel robot overall stiffness variation value can be rapidly measured, the structure is simple, the efficiency and the precision are high, and data support is provided for scientific research and production of the six-freedom-degree parallel robot.
Description
Technical Field
The invention belongs to the field of mechanical equipment, and particularly relates to a device and a method for quantitatively testing a weak link of rigidity of a six-degree-of-freedom parallel robot.
Background
The six-degree-of-freedom parallel robot has the advantages of high precision, high rigidity, small additional inertia, small volume and simple structure, thereby being widely applied. In certain specific fields, such as aerospace, not only high precision but also high stiffness is required. In these situations, ensuring sufficient rigidity directly affects the success of the task, and therefore the rigidity of the device must be tested before use. The six-degree-of-freedom parallel robot has the disadvantages of more transmission links, more movable parts, complex matching relation among all parts, difficult control of pre-tightening state, difficult accurate simulation calculation of the whole rigidity and large difference between an actual measurement result and a simulation result. The traditional rigidity testing method of the six-degree-of-freedom parallel robot mostly adopts dial indicator dotting measurement, although the method is simple, the testing data is limited, and when a simulation result does not accord with an actual measurement result, the obtained data is difficult to determine a weak link of the whole robot, so that the progress and the accuracy of the rigidity testing of the whole robot are influenced. Therefore, a new method for testing the rigidity of the six-degree-of-freedom parallel robot is urgently needed to be researched, the weak link of the six-degree-of-freedom parallel robot can be quantitatively analyzed according to the test result, and data support is provided for scientific research and production.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a device and a method for quantitatively testing the weak link of the six-degree-of-freedom parallel robot rigidity.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a six-degree-of-freedom parallel robot rigidity weak link quantitative testing device which comprises a six-degree-of-freedom parallel robot, a target ball, a carrier block and a laser tracker, wherein the six-degree-of-freedom parallel robot consists of a fixed platform and a movable platform, the six-degree-of-freedom parallel robot is a six-branched-chain parallel mechanism, two ends of six branched chains are respectively connected onto the fixed platform and the movable platform, the carrier block is fixed on the movable platform through screws, six moving positions of ball hinges at the lower ends of the movable platform, the fixed platform and the fixed platform are sequentially provided with a movable part, a reference part and a weak part, the target ball is uniformly arranged in a ring and is respectively fixed on the movable part, the weak part and the reference part, and the laser tracker measures the position of the target ball.
The measuring device further comprises a base platform, a bending plate and a tripod, wherein the six-degree-of-freedom parallel robot is connected with the bending plate through screws, the bending plate is fixed on the base platform through screws, the laser tracker is erected on the tripod, and the tripod is fixed on the base platform.
Preferably, the kinematic pair of each branched chain from the fixed platform to the movable platform is a spherical hinge pair, a sliding pair or a spherical hinge pair.
Preferably, the target balls are divided into three groups, including a reference target ball, a movable target ball and a weak link target ball.
Preferably, the reference target ball is at least three target balls, fixed on the reference site.
Preferably, the movable target ball is at least three target balls fixed on the movable part.
Preferably, the weak link target ball is at least six target balls fixed on the weak part.
Preferably, a reference coordinate system { B } is established at the center position of the reference target ball.
Preferably, a moving platform coordinate system { D0} is established at the center position of the moving target ball.
The test method of the device for quantitatively testing the weak link of the rigidity based on the six-degree-of-freedom parallel robot comprises the following steps:
step S10: respectively fixing target balls on a reference part, a movable part and a weak part of the tested six-degree-of-freedom parallel robot;
step S20: testing the reference target balls arranged on the reference position by using the laser tracker, calculating the positions of the centers of the three target balls, establishing a reference coordinate system { B }, and calculating initial position coordinates Qd0 of six lower-end ball hinges and initial position coordinates Qu0 of six upper-end ball hinges according to a geometric model;
step S30: testing movable target balls arranged on the movable part by using the laser tracker, calculating the positions of the centers of the three target balls, establishing a movable platform coordinate system { D0}, and calculating the position P0 and the posture R0 of the movable platform relative to a reference coordinate system in the initial state of the six-degree-of-freedom parallel robot;
step S40: testing weak link target balls arranged on the weak part by using the laser tracker, calculating the positions of the centers of six target balls, and calculating the positions Q0 of six lower end ball hinges of the six-degree-of-freedom parallel robot in the initial state;
step S50: adding a carrying block on the movable platform of the six-degree-of-freedom parallel robot to enable the movable platform to generate rigid deformation, testing the sphere center positions of the movable target balls arranged on the movable platform and the weak link target balls arranged on the lower end ball hinge again after the movable platform is stabilized, and obtaining the position P1 and the posture R1 of the movable platform relative to a reference coordinate system and the six positions Q1 of the lower end ball hinge under the load state of the six-degree-of-freedom parallel robot;
step S60: when the six-degree-of-freedom parallel robot applies load, the position change and the attitude change of the movable platform are calculated as follows: Δ P ═ P1-P0, Δ R ═ R1-R0; the delta P and the delta R are the integral rigid body deformation of the six-degree-of-freedom parallel robot;
step S70: the new position coordinates for the six lower end ball hinges after the applied load are calculated as: qdnew ═ Qd0+ Q1-Q0;
step S80: calculating rigid body deformation delta Pq and delta Rq of the movable platform caused only by the position change of the ball hinge according to the inverse kinematics of the six-degree-of-freedom parallel robot; the rigid deformation of the movable platform caused by the position change of the ball hinge is delta Pq and delta Rq, each quantity has three components, six unknown quantities are introduced, the transformation matrix T of the movable platform can be obtained through the six quantities, and then the new coordinate value of the upper end ball hinge when a load block is applied is obtained as follows: qunew ═ T Qu 0; and establishing six equations according to the constraint condition that the rod length between the spherical hinges at the two ends of each branched chain is a fixed value, and solving rigid body deformation delta Pq and delta Rq of the movable platform caused only by the position change of the spherical hinges.
Step S90: and quantitatively calculating the ratio of rigid body deformation delta Pq and delta Rq of the movable platform caused only by the position change of the weak link to the integral rigid body deformation to obtain an influence value Kp (delta Pq)/delta P and KR (delta Rq)/delta R.
The invention has the beneficial effects that: after the system is built, the laser tracker can quickly measure the overall rigidity change value of the six-degree-of-freedom parallel robot when a load is applied, and can obtain the three-dimensional rigid body displacement of the weak link, so that the rigid body deformation only generated by the weak link is solved through inverse kinematics of the six-degree-of-freedom parallel robot, and the influence value of the weak link on the overall rigidity of the six-degree-of-freedom parallel robot is obtained through quantitative calculation; the structure is simple, the efficiency and the precision are high, and data support can be provided for scientific research and production of the six-degree-of-freedom parallel robot.
Drawings
FIG. 1 is a schematic structural diagram of a six-degree-of-freedom parallel robot stiffness weak link quantitative testing device of the invention;
fig. 2 is a schematic layout of a target ball of the present invention.
Wherein: 1-a foundation bed; 2-bending a plate; 3-six-degree-of-freedom parallel robot; 32-fixed platform; 34-moving the platform; 4-target ball; 4 a-reference target ball; 4 b-weak link target ball; 4 c-a movable target ball; 5-carrying block; 6-laser tracker; 7-a tripod.
Detailed Description
The invention is described in more detail below with reference to the figures and examples.
Please refer to fig. 1: the six-degree-of-freedom parallel robot rigidity weak link quantitative testing device comprises a six-degree-of-freedom parallel robot 3, a target ball 4, a carrier block 5 and a laser tracker 6, wherein the six-degree-of-freedom parallel robot 3 consists of a fixed platform 32 and a movable platform 34, the six-degree-of-freedom parallel robot 3 is a six-branched-chain parallel mechanism, the six-branched-chain parallel mechanism is formed by connecting two ends of six branched chains to the fixed platform 32 and the movable platform 34 respectively, the carrier block 5 is fixed on the movable platform 34 through screws, six moving positions of ball hinges at the lower ends of the fixed platform 32 and the movable platform 34 are sequentially provided with a reference part, a weak part and a moving part, and the ball hinge at the lower end is a ball hinge; the target balls 4 are uniformly arranged in a circle and fixed on the reference part, the weak part and the movable part respectively, and the laser tracker 6 measures the positions of the target balls 4. In a test state, the mass block with the weight and the mass center equivalent to that of the carrier block 5 can be used for replacing the mass block, the laser tracker 6 is used for testing the corresponding position coordinates of the target ball 4, and the laser tracker can quickly measure the integral rigidity change value of the six-freedom-degree parallel robot when a load is applied.
Still include basic platform 1, bent plate 2 and tripod 7, six degree of freedom parallel robot 3 is connected with bent plate 2 through the screw, and bent plate 2 passes through the fix with screw on basic platform 1, and bent plate 2 needs enough high rigidity, requires the fundamental frequency at least for being surveyed three times of six degree of freedom parallel robot 3, and laser tracker 6 erects on tripod 7, and tripod 7 is fixed on basic platform 1.
Furthermore, the kinematic pair of each branched chain from the fixed platform 32 to the movable platform 34 is a spherical hinge pair, a sliding pair, or a spherical hinge pair.
Please refer to fig. 2: the target balls 4 are divided into three groups, which respectively comprise a reference target ball 4a, a weak link target ball 4b and a movable platform target ball 4c, and the weak link of the rigidity of the device is a ball hinge connected with a fixed platform 32.
The reference target ball 4a is fixed to a reference position as a reference of the six-degree-of-freedom parallel robot 3 to be measured, and at least three target balls are fixed as required.
Further, the movable target ball 4c has at least three target balls fixed on the movable portion for fitting the position and posture of the movable platform 34.
Furthermore, the target ball 4b of the weak link is at least six target balls which are arranged on the weak part and used for testing the position of the lower end ball hinge.
Further, a reference coordinate system { B } is established at the central position of the reference target ball 4 a; and establishing a moving platform coordinate system { D0} at the center position of the movable target ball 4 c. The reference target ball 4a and the movable target ball 4c are respectively arranged at the reference part and the movable part, so that the established coordinate system is coincided with the coordinate axes of the corresponding coordinate system of the geometric model, the distance between the origin of coordinates is a known quantity, and thus the initial position coordinates of 12 ball hinges can be determined by using the coordinate system established according to the target balls.
The invention is explained by combining the preferred implementation steps, and the test method of the device for quantitatively testing the weak link of the rigidity based on the six-degree-of-freedom parallel robot comprises the following steps:
step S10: the target ball 4 is fixed to the movable part, the weak part and the reference part of the six-degree-of-freedom parallel robot 3 to be measured.
Step S20: the laser tracker 6 is adopted to test the reference target ball 4a arranged on the reference position, the positions of the centers of the three target balls are calculated, a reference coordinate system { B } is established, and the initial position coordinates Qd0 of six lower end ball hinges and the initial position coordinates Qu0 of six upper end ball hinges are calculated according to a geometric model. The upper end ball hinge means a ball hinge connected to the movable platform 34.
Step S30: the laser tracker 6 is adopted to test the movable target ball 4c arranged on the movable part, the positions of the centers of the three target balls are calculated, a movable platform coordinate system { D0} is established, and the position P0 and the posture R0 of the movable platform 34 relative to the reference coordinate system in the initial state of the six-freedom-degree parallel machine 3 are calculated.
Step S40: and (3) testing the weak link target ball 4b arranged on the weak part by using a laser tracker 6, calculating the positions of the centers of six target balls, and calculating the positions Q0 of six lower end ball hinges of the six-degree-of-freedom parallel robot 3 in the initial state.
Step S50: adding a loading block 5 on a movable platform 34 of the six-degree-of-freedom parallel robot 3 to enable the movable platform 34 to generate rigid deformation, retesting the sphere center positions of three target balls arranged on the movable platform 34 and six target balls arranged on a lower end ball hinge after stabilization, and obtaining the position P1, the attitude R1 and the positions Q1 of the six lower end ball hinge of the movable platform 34 relative to a reference coordinate system in a loading state of the six-degree-of-freedom parallel robot 3.
Step S60: when the six-degree-of-freedom parallel robot 3 applies the load, the position change and the attitude change of the movable platform 34 are calculated as follows: Δ P ═ P1-P0, Δ R ═ R1-R0; the Δ P and the Δ R are the overall rigid deformation of the six-degree-of-freedom parallel robot 3.
Step S70: the new position coordinates for the six lower end ball hinges after the applied load are calculated as: qdnew ═ Qd0+ Q1-Q0.
Step S80: rigid body deformations Δ Pq and Δ Rq of the movable platform 34 caused only by changes in the position of the ball hinge are calculated from the inverse kinematics of the six-degree-of-freedom parallel robot 3.
The specific method comprises the following steps: assuming that the rigid deformation of the movable platform 34 caused only by the change in the position of the ball hinge is Δ Pq and Δ Rq, each of the quantities has three components, six unknown quantities are introduced, the transformation matrix T of the movable platform 34 can be obtained from the six quantities, and then the new coordinate value of the upper end ball hinge when the load block 5 is applied is obtained as: qunew ═ T Qu 0. And according to the constraint condition that the rod length between the spherical hinges at the two ends of each branched chain is a fixed value, six equations are established, and rigid body deformation delta Pq and delta Rq of the movable platform 34 caused only by the position change of the spherical hinges are solved.
Step S90: and quantitatively calculating the ratio of rigid body deformation delta Pq and delta Rq of the movable platform 34 caused only by the position change of the weak link to the integral rigid body deformation to obtain an influence value Kp, delta Pq, delta P and KR, delta Rq and delta R.
During the actual test: after the system is built, according to the function requirement, at least three target balls are arranged on the fixed platform 32, at least three target balls are arranged on the movable platform 34 and at least six target balls are arranged at the motion positions of six lower end ball hinges respectively, the positions of the target balls on the fixed platform 32 and the movable platform 34 are required to be arranged on a reference position and a movable position, so that the established coordinate system is overlapped with the coordinate axes of the corresponding coordinate system of the geometric model, the distance between the origin of coordinates is a known quantity, and the initial position coordinates of twelve ball hinges can be determined by using the coordinate system established according to the target balls. The laser tracker 6 can quickly measure the overall rigidity change value of the six-degree-of-freedom parallel robot 3 when a load is applied, and can obtain the three-dimensional rigid body displacement of the weak link, so that the rigid body deformation generated by only the weak link is solved through inverse kinematics of the six-degree-of-freedom parallel robot 3, and the influence value of the weak link on the overall rigidity of the six-degree-of-freedom parallel robot 3 is obtained through quantitative calculation. The quantitative testing device is simple in structure, high in efficiency and precision and capable of providing data support for scientific research and production of the six-degree-of-freedom parallel robot.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (8)
1. Six degree of freedom parallel robot rigidity weak link ration testing arrangement includes six degree of freedom parallel robot (3), target ball (4), carrier block (5) and laser tracker (6), its characterized in that: the six-degree-of-freedom parallel robot (3) comprises a fixed platform (32) and a movable platform (34), the six-degree-of-freedom parallel robot (3) is a six-branched-chain parallel mechanism, two ends of six branched chains are respectively connected to the fixed platform (32) and the movable platform (34), the carrier block (5) is fixed on the movable platform (34) through screws, six moving positions of a lower end ball hinge of the fixed platform (32) and the movable platform (34) are sequentially provided with a reference position, a weak position and a movable position, target balls (4) are uniformly arranged in a circle and are respectively fixed on the reference position, the weak position and the movable position, and the laser tracker (6) measures the position of the target ball (4);
the six-degree-of-freedom parallel robot is characterized by further comprising a base table (1), a bending plate (2) and a tripod (7), wherein the six-degree-of-freedom parallel robot (3) is connected with the bending plate (2) through screws, the bending plate (2) is fixed on the base table (1) through screws, the laser tracker (6) is erected on the tripod (7), and the tripod (7) is fixed on the base table (1);
and the kinematic pairs of each branched chain from the fixed platform (32) to the movable platform (34) are a spherical hinge pair, a sliding pair and a spherical hinge pair respectively.
2. The six-degree-of-freedom parallel robot rigidity weak link quantitative testing device as claimed in claim 1, characterized in that: the target balls (4) are divided into three groups, and respectively comprise a reference target ball (4a), a movable target ball (4c) and a weak link target ball (4 b).
3. The six-degree-of-freedom parallel robot stiffness weak link quantitative testing device according to claim 2, wherein the reference target ball (4a) is fixed on the reference position by at least three target balls.
4. The six-degree-of-freedom parallel robot stiffness weak link quantitative testing device according to claim 2, wherein the movable target ball (4c) is fixed on the movable part by at least three target balls.
5. The six-degree-of-freedom parallel robot rigidity weak link quantitative testing device according to claim 2, characterized in that the weak link target ball (4b) is at least six target balls fixed on the weak part.
6. The six-degree-of-freedom parallel robot stiffness weak link quantitative testing device according to claim 3, characterized in that a reference coordinate system { B } is established at the center position of the reference target ball (4 a).
7. The six-degree-of-freedom parallel robot stiffness weak link quantitative testing device according to claim 4, characterized in that a moving platform coordinate system { D0} is established at the center position of the moving target ball (4 c).
8. The test method of the six-degree-of-freedom parallel robot rigidity weak link quantitative test device according to any one of claims 1 to 7, characterized by comprising the following steps:
step S10: respectively fixing target balls (4) on a reference part, a movable part and a weak part of a tested six-degree-of-freedom parallel robot (3);
step S20: testing a reference target ball (4a) arranged on the reference position by using a laser tracker (6), calculating the positions of the centers of the three target balls, establishing a reference coordinate system { B }, and calculating initial position coordinates Qd0 of six lower-end ball hinges and initial position coordinates Qu0 of six upper-end ball hinges according to a geometric model;
step S30: testing movable target balls (4c) arranged on the movable part by using the laser tracker (6), calculating the positions of the centers of the three target balls, establishing a movable platform coordinate system { D0}, and calculating the position P0 and the attitude R0 of the movable platform (34) relative to a reference coordinate system in the initial state of the six-degree-of-freedom parallel robot (3);
step S40: testing weak link target balls (4b) arranged on the weak part by using the laser tracker (6), calculating the positions of the centers of six target balls, and calculating the positions Q0 of six lower end ball hinges of the six-degree-of-freedom parallel robot (3) in the initial state;
step S50: adding a carrier block (5) on the movable platform (34) of the six-degree-of-freedom parallel robot (3), enabling the movable platform (34) to generate rigid deformation, testing the sphere center positions of the movable target ball (4c) and the weak link target ball (4b) again after stabilization, and obtaining the position P1, the attitude R1 and the six lower end ball hinge positions Q1 of the movable platform (34) relative to a reference coordinate system in a load state of the six-degree-of-freedom parallel robot (3);
step S60: when the six-degree-of-freedom parallel robot (3) applies load, the position change and the attitude change of the movable platform (34) are calculated as follows: Δ P ═ P1-P0, Δ R ═ R1-R0; the delta P and the delta R are the integral rigid body deformation of the six-degree-of-freedom parallel robot (3);
step S70: the new position coordinates for the six lower end ball hinges after the applied load are calculated as: qdnew ═ Qd0+ Q1-Q0;
step S80: calculating rigid body deformation delta Pq and delta Rq of the movable platform (34) caused only by the position change of the spherical hinge according to the inverse kinematics of the six-freedom-degree parallel robot (3);
the rigid deformation of the movable platform 34 caused by the position change of the ball hinge is Δ Pq and Δ Rq, each quantity has three components, six unknown quantities are introduced, the transformation matrix T of the movable platform 34 can be obtained through the six quantities, and then the new coordinate value of the upper end ball hinge when the load block 5 is applied is obtained as follows: qunew ═ T Qu 0; according to the constraint condition that the rod length between the spherical hinges at the two ends of each branched chain is a fixed value, six equations are established, and rigid body deformation delta Pq and delta Rq of the movable platform 34 caused only by the position change of the spherical hinges are solved;
step S90: and quantitatively calculating the ratio of rigid body deformation delta Pq and delta Rq of the movable platform (34) caused only by the position change of the weak link to the whole rigid body deformation to obtain an influence value Kp (delta Pq)/delta P and KR (delta Rq)/delta R.
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