CN110053037B - Method for determining joint moment of robot - Google Patents
Method for determining joint moment of robot Download PDFInfo
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- CN110053037B CN110053037B CN201910324624.1A CN201910324624A CN110053037B CN 110053037 B CN110053037 B CN 110053037B CN 201910324624 A CN201910324624 A CN 201910324624A CN 110053037 B CN110053037 B CN 110053037B
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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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Abstract
The invention provides a method for determining joint moment of a robot. The method comprises the following steps: arranging an equivalent rotor, connecting a first connecting rod of the robot with a first end of the equivalent rotor, connecting a second end of the equivalent rotor with a second connecting rod, arranging a revolute pair between the first connecting rod and the equivalent rotor, and arranging a fixed pair between the second connecting rod and the equivalent rotor; setting the mass of the equivalent rotor as a first preset value, and setting the inertia value of the equivalent rotor and the axis of the second connecting rod as a second preset value; and applying driving force to at least one of the rotating pair and the fixed pair to enable the second connecting rod to perform simulation operation, establishing a torque function through torque data of a torsion spring connected with the second connecting rod, and determining the model of the actually required speed reducer according to the torque function. By adopting the method, the robot can be assembled with a proper motor and a proper speed reducer, so that the positioning precision of the robot is effectively improved, and the stability and the reliability of the robot are improved.
Description
Technical Field
The invention relates to the technical field of robot equipment, in particular to a method for determining joint moment of a robot.
Background
At present, most industrial robots adopt a servo motor as a power source, and adopt a speed reducer to reduce the speed and increase the torque of the power output of the motor, so as to drive each joint of the robot to move. In the research and development stage of the robot, the driving torque of each joint of the robot needs to be calculated according to the 3D model and is used as a basis for model selection of the motor and the speed reducer, so that the numerical accuracy of the robot joint torque is very important. However, the most common calculation method at present is to perform simulation calculation by using dynamic simulation software, and since there is no explicit step in the simulation software to set the inertia of the motor reducer, a calculator often ignores the influence of the inertia of the motor and the reducer on the joint moment, so that the type selection of the motor reducer is small, and the robot has the hidden troubles of instability and shortened service life. Especially, the deformation is obvious in the 4 th, 5 th and 6 th axes of the robot.
Disclosure of Invention
The invention mainly aims to provide a method for determining joint moment of a robot, which aims to solve the problem of instability of the robot in the prior art.
In order to achieve the above object, according to one aspect of the present invention, there is provided a method of speed reducer determination of a robot, the method including the steps of: arranging an equivalent rotor, connecting a first connecting rod of the robot with a first end of the equivalent rotor, and connecting a second end of the equivalent rotor with a second connecting rod, wherein a revolute pair is arranged between the first connecting rod and the equivalent rotor, and a fixed pair is arranged between the second connecting rod and the equivalent rotor; setting the mass of the equivalent rotor as a first preset value, and setting the inertia value of the equivalent rotor and the axis of the second connecting rod as a second preset value; and applying driving force to at least one of the rotating pair and the fixed pair to enable the second connecting rod to perform simulation operation, establishing a torque function through torque data of a torsion spring connected with the second connecting rod, and determining the models of the motor and the speed reducer which are actually required according to the torque function.
Further, the first preset value is 1 g.
Further, the second preset value is the sum of the inertia of the equivalent rotor and the inertia of the high-speed shaft of the preset speed reducer.
Further, the inertia of the equivalent rotor is Jm, wherein Jm = J1 × R, J1 is the inertia of the equivalent rotor, and R is the total reduction ratio of the second link.
Further, it is preset that the high-speed shaft inertia of the speed reducer is Jr, where Jr = J2 × r, J2 is the inertia of the high-speed shaft of the speed reducer, and r is the reduction ratio of the speed reducer.
Further, when the inertia value of the axis of the second connecting rod is a second preset value and the second connecting rod is located on one of the X-axis, the Y-axis and the Z-axis, the inertia values in the other two directions of the X-axis, the Y-axis and the Z-axis are a third preset value, and the third preset value is 1kg mm2。
By applying the technical scheme of the invention, the method is adopted, the mass of the equivalent rotor is set to be a first preset value, the driving force is applied to at least one of the rotating pair and the fixed pair, so that the second connecting rod performs simulation operation, a torque function is established through the torque data of the torsion spring connected with the second connecting rod, and the models of the motor and the speed reducer which are actually required are determined according to the torque function. By adopting the method, a proper speed reducer can be assembled for the robot, the positioning precision of the robot is effectively improved, and the stability and the reliability of the robot are improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 shows a schematic flow diagram of an embodiment of a method of joint moment determination of a robot according to the invention;
fig. 2 shows a schematic structural view of an embodiment of the robot according to the invention.
Wherein the figures include the following reference numerals:
10. a base;
20. a first link;
30. a rigid rotor;
40. a second link.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Exemplary embodiments according to the present application will now be described in more detail with reference to the accompanying drawings. These exemplary embodiments may, however, be embodied in many different forms and should not be construed as limited to only the embodiments set forth herein. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art, in the drawings, it is possible to enlarge the thicknesses of layers and regions for clarity, and the same devices are denoted by the same reference numerals, and thus the description thereof will be omitted.
Referring to fig. 1 and 2, according to an embodiment of the present invention, a method for determining joint moments of a robot is provided.
As shown in fig. 1, the method comprises the steps of: step 1: the robot comprises a robot body, a first connecting rod, a second connecting rod, an equivalent rotor and a fixing pair, wherein the equivalent rotor is arranged, the first connecting rod of the robot is connected with the first end of the equivalent rotor, the second end of the equivalent rotor is connected with the second connecting rod, the rotating pair is arranged between the first connecting rod and the equivalent rotor, and the fixing pair is arranged between the second connecting rod and the equivalent rotor. Step 2: and setting the mass of the equivalent rotor as a first preset value, and setting the inertia value of the equivalent rotor relative to the axis of the second connecting rod as a second preset value. And step 3: and applying driving force to at least one of the rotating pair and the fixed pair to enable the second connecting rod to perform simulation operation, establishing a torque function through torque data of a torsion spring connected with the second connecting rod, and determining the models of the motor and the speed reducer which are actually required according to the torque function.
In this embodiment, by setting the mass of the equivalent rotor to a first preset value and setting the inertia value of the equivalent rotor and the axis of the second connecting rod to a second preset value, the method applies a driving force to at least one of the revolute pair and the fixed pair to enable the second connecting rod to perform simulation operation, establishes a torque function through torque data of a torsion spring connected to the second connecting rod, and determines the models of the actually required motor and the actually required speed reducer according to the torque function. By adopting the method, a proper speed reducer can be assembled for the robot, the positioning precision of the robot is effectively improved, and the stability and the reliability of the robot are improved.
Specifically, the first preset value is 1 g. The second preset value is the sum of an inertia value equivalent to a load end of the motor rotor inertia and an inertia value equivalent to the load end of the preset speed reducer high-speed shaft inertia. An inertia value of the rotor inertia of the motor equivalent to the load end is Jm, where Jm = J1 × R, J1 is the equivalent rotor inertia of the motor, and R is the total reduction ratio of the second connecting rod. An inertia value equivalent to a load end by presetting reducer high-speed shaft inertia is Jr, wherein Jr = J2 × r, J2 is inertia of a high-speed shaft of the reducer, and r is a reduction ratio of the reducer. When the inertia value of the equivalent rotor relative to the axis of the second connecting rod is a second preset value and the second connecting rod is positioned on one coordinate axis of the X axis, the Y axis and the Z axis, the inertia values in the other two coordinate axis directions of the X axis, the Y axis and the Z axis are a third preset value which is 1 kg.mm2。
In the embodiment, the inertia of the motor rotor and the inertia of the speed reducer are equivalent to form a low-mass high-inertia rotor, the rotor is bound with a joint load, and the method for calculating the moment of the robot joint through simulation is carried out by utilizing Adams software. Firstly, a value Jm of motor rotor inertia equivalent to a load end is obtained, then a value Jr of reducer high-speed shaft inertia equivalent to the load end is obtained, the mass of the low-mass high-inertia rotor is manually set to be as small as possible, for example, 1 (g), the inertia of the low-mass high-inertia rotor relative to a joint axis is set to be Jm + Jr, the inertia of the low-mass high-inertia rotor in other directions (any two of a Z axis, a Y axis and an X axis) is set to be as small as possible, for example, 1 (Kg.mm), and the manually set value as small as possible is to enable the low-mass high-inertia rotor to only consider the influence of the inertia of the motor reducer on a system without other irrelevant error parameters. The robot dynamic model of the motor and the speed reducer is considered to be built, a target running track is given to the robot, and the joint moment function of the robot on the track can be built. The method improves the dynamic performance of the robot and provides the most accurate joint torque information for the model selection of the motor speed reducer of the robot.
The method comprises the following steps of (1) equivalently enabling the inertia of a motor rotor and the inertia of a speed reducer to form a low-mass high-inertia rotor, binding the rotor and a joint load together, and carrying out simulation calculation on the robot joint moment by using ADAMS software:
1. calculating an inertia value Jm equivalent to a joint load end by the inertia of the motor rotor:
jm = J1R, wherein: j1 is the inertia of the equivalent rotor of the motor, which can be found from the selection handbook of the motor, and R is the total reduction ratio of the joint.
2. Calculating an inertia value Jr equivalent to a joint load end from the high-speed shaft inertia of the speed reducer:
jr = J2 r, in which: j2 is inertia of a high-speed shaft of the speed reducer and can be found from a model selection manual of the speed reducer, and r is a reduction ratio of the speed reducer and can be found from the model selection manual of the speed reducer.
3. A dynamic simulation model is built in Adams, taking one joint of a robot as an example:
an equivalent rotor is established between the first connecting rod and the second connecting rod, the equivalent rotor and the second connecting rod are bound through a fixed pair, namely the fixed pair is integrated, and then the first connecting rod and the second connecting rod are connected through a rotating pair. The mass of the equivalent rotor is manually set to be as small as possible, for example, 1 (g), the inertia of the equivalent rotor and the axis of the second link joint is set to be Jm + Jr, and the inertias in other directions are set to be as small as possible, for example, 1 (kg.mm), where the manually set value to be as small as possible is to let the low-mass high-inertia rotor consider only the influence of the inertia of the motor reducer on the system without taking other irrelevant error parameters into account.
4. Adding a driving function:
and adding a drive on a rotating pair between the first connecting rod and the second connecting rod, namely the rotating pair, and establishing a torque function to enable the robot to operate according to a preset target track.
5. Obtaining a joint moment:
and (4) modeling in Adams in a simulation mode, and extracting a robot joint moment simulation calculation structure, so that the model of the actually required speed reducer is determined.
Further, as shown in fig. 2, according to another aspect of the present invention, there is provided a robot. The robot comprises a base 10, a first link 20, a rigid rotor 30 and a second link 40. The first end of the first link 20 is connected to the base 10. The first end of the rigid rotor 30 is connected to the first link 20 by a revolute pair. The second end of the rigid rotor 30 is connected to the second link 40 by a fixed pair. The robot has simple structure and convenient operation. Wherein, the revolute pair is of a hinge structure. The fixed pair is of a hinge structure. A driving force may be applied to the revolute pair to rotate the second link 40 to perform a simulation. A torsion spring is provided between the rigid rotor 30 and the second link 40. The robot can be used for simulating the actual model of the speed reducer required by the robot in practice.
In addition to the foregoing, it should be noted that reference throughout this specification to "one embodiment," "another embodiment," "an embodiment," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment described generally throughout this application. The appearances of the same phrase in various places in the specification are not necessarily all referring to the same embodiment. Further, when a particular feature, structure, or characteristic is described in connection with any embodiment, it is submitted that it is within the scope of the invention to effect such feature, structure, or characteristic in connection with other embodiments.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. A method of joint moment determination for a robot, characterized in that the method comprises the steps of:
arranging an equivalent rotor, connecting a first connecting rod of the robot with a first end of the equivalent rotor, and connecting a second end of the equivalent rotor with a second connecting rod, wherein a revolute pair is arranged between the first connecting rod and the equivalent rotor, and a fixed pair is arranged between the second connecting rod and the equivalent rotor;
setting the mass of the equivalent rotor as a first preset value, enabling the inertia of the motor rotor and the inertia of the speed reducer to be equivalent to form an equivalent rotor, and setting the inertia value of the equivalent rotor relative to the axis of the second connecting rod as a second preset value;
applying driving force to at least one of the rotating pair and the fixed pair to enable the second connecting rod to perform simulation operation, establishing a torque function through torque data of a torsion spring connected with the second connecting rod, and determining the models of a motor and a speed reducer which are actually required according to the torque function;
the second preset value is the sum of an inertia value equivalent to a load end of the motor rotor inertia and an inertia value equivalent to the load end of a preset speed reducer high-speed shaft inertia;
an inertia value of the motor rotor inertia equivalent to a load end is Jm, wherein Jm = J1 × R, J1 is the inertia of the equivalent rotor of the motor, and R is the total reduction ratio of the second connecting rod;
the inertia value equivalent to the load end by the preset reducer high-speed shaft inertia is Jr, wherein Jr = J2 × r, J2 is the inertia of the high-speed shaft of the reducer, and r is the reduction ratio of the reducer.
2. The method according to claim 1, wherein the first preset value is 1 g.
3. The method according to claim 1, wherein when the inertia value of the equivalent rotor with respect to the axis of the second link is the second preset value and the second link is located on one of the X-axis, the Y-axis and the Z-axis, the inertia values in the other two coordinate axes of the X-axis, the Y-axis and the Z-axis are third preset values, and the third preset value is 1 kg-mm2。
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| US8525460B2 (en) * | 2010-02-02 | 2013-09-03 | GM Global Technology Operations LLC | Architecture for robust force and impedance control of series elastic actuators |
| CN104484496B (en) * | 2014-11-17 | 2017-11-14 | 东莞市汉翔机械设备有限公司苏州分公司 | A kind of electric cylinders 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 |
| CN108527365B (en) * | 2018-03-21 | 2020-07-31 | 清华大学 | Parameter optimization type selection method for high-speed parallel robot driving system |
| CN108714896B (en) * | 2018-05-28 | 2021-07-16 | 华南理工大学 | Flexible moment feedforward control method of robot based on flexible body dynamic 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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