CN110549333A - gravity compensation method for TriMule horizontal series-parallel robot - Google Patents

gravity compensation method for TriMule horizontal series-parallel robot Download PDF

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CN110549333A
CN110549333A CN201910722956.5A CN201910722956A CN110549333A CN 110549333 A CN110549333 A CN 110549333A CN 201910722956 A CN201910722956 A CN 201910722956A CN 110549333 A CN110549333 A CN 110549333A
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robot
point
track
compensation
tail end
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CN110549333B (en
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洪鹰
黄欣
肖聚亮
王国栋
刘海涛
黄田
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Tianjin University
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Tianjin University
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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
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

the invention discloses a gravity compensation method for a TriMule horizontal series-parallel robot, which comprises the following steps: establishing a three-dimensional virtual prototype of the TriMule horizontal series-parallel robot, and importing finite element analysis software to obtain a plurality of point positions with obvious deformation of the central point of the tail end of the robot under the influence of gravity; measuring offsets generated in the X, Y, Z direction under a robot coordinate system after a plurality of point positions with obvious deformation are influenced by gravity and taking the offsets as compensation values; and programming a program in the robot control system, adding a compensation value to the continuous track of the tail end of the robot passing through the points, driving the robot to move along the track, tracking and measuring the track of the tail end of the robot by using a laser tracker, comparing the compensated track with a theoretical track, finding out a point position with poor compensation, and modifying the compensation value again until an ideal effect is achieved. The invention can make the compensation more accurate.

Description

Gravity compensation method for TriMule horizontal series-parallel robot
Technical Field
the invention belongs to a gravity compensation method of a robot, and particularly relates to a gravity compensation method of a TriMule horizontal type series-parallel robot.
Background
Since the new century, the rapid development of industries such as aviation, aerospace, wind power, high speed railway and the like has prompted an increasing demand for large-scale structures/functional parts. The parts have the characteristics of large overall dimension, complex geometric shape, high precision requirement and the like, and the manufacturing, the maintenance and the repair of the parts face various challenges. The traditional manufacturing mode (such as large/super-large horizontal or vertical machine tools and the like) is difficult to be sufficient for processing the parts due to the defects of strict requirements on installation environment, high energy consumption, low efficiency and the like.
With the continuous development and innovation of the robot technology, the single-machine manufacturing unit and the multi-machine manufacturing system which take the series-parallel configuration equipment as the core functional component play more and more roles in the occasions of high-efficiency, high-precision and short-flow processing facing to large-scale complex parts. The series-parallel configuration equipment has the advantages of large working space/occupied area ratio, large static rigidity and flexible collocation, is easy to manufacture into a plug-and-play module, and further builds various manufacturing systems with wide application according to the processing requirements, and makes up the defects of the traditional series configuration equipment.
As shown in fig. 1, the structure of the trimole horizontal type hybrid robot as a latest improved configuration of a classical hybrid robot-Tricept series robot is as follows: the parallel connection part consists of three driving motors 1, three driving branched chains 4, a rotating bracket 1(3), a rotating bracket 2(6), a driven branched chain 2 and a base 7; the rotating support 1(3) and the rotating support 2(6) are fixed on the base 7, one end of each of the two driving branched chains 4 and the driven branched chain 2 is fixed on the rotating support 2(6) and can swing left and right in the horizontal direction, the other end of each of the two driving branched chains 4 is fixed on two sides of the tail end of the driven branched chain 2, and the whole rotating support 2(6) can rotate up and down around a fixed shaft of the whole rotating support 2 (6); one end of the remaining driving branched chain 4 is fixed on the rotating bracket 1(3) and can swing left and right in the horizontal direction, the other end is fixed at the tail end of the driven branched chain 2, and the rotating bracket 1(3) can rotate up and down around the fixed shaft of the rotating bracket; three driving motors 1 are used for fixing the tails of the three driving branched chains 4 and driving the driving branched chains 4 to drive the driven branched chains 2 to extend and retract together; the serial part consists of a two-degree-of-freedom serial swing head 5, and the two-degree-of-freedom serial swing head is fixed at the tail end of the driven branched chain 2, can rotate around the driven branched chain 2 shaft and can swing up and down.
the TriMule horizontal hybrid robot inherits the advantages of the Tricept series robot, is lower in manufacturing cost and better in manufacturing manufacturability, is universal with part of parts of the Tricept series robot, and is more reliable and durable.
There are some problems in the use of the trimole horizontal hybrid robot, such as: the horizontal robot can generate certain deformation under the action of the end load and the gravity of the mechanical arm in the moving process, the deformation enables the position of the end of the robot to deviate, and the precision of the robot and the overall performance of the robot are seriously influenced by the deformation.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a gravity compensation method for a TriMule horizontal hybrid robot, so as to solve the problem that the tail end position of the TriMule horizontal hybrid robot is deviated due to the deformation caused by the gravity of a mechanical arm of the TriMule horizontal hybrid robot in the prior art.
the technical scheme for solving the problems is as follows:
The invention discloses a gravity compensation method for a TriMule horizontal series-parallel robot, which comprises the following steps of:
Step one, mounting a laser target ball at the tail end of a two-freedom-degree series head, and arranging a laser tracker right in front of a TriMule horizontal series-parallel robot to obtain a running track of the tail end of the two-freedom-degree series head;
Step two, building a three-dimensional virtual prototype of the TriMule horizontal series-parallel robot by adopting solidworks software in a computer, then introducing the three-dimensional virtual prototype into finite element analysis software ANSYS, and making a deformation cloud chart of the robot at any pose in a working space under the action of gravity by utilizing the ANSYS to obtain a plurality of point positions S with obvious deformation caused by the influence of gravity on the central point of the tail end of the two-degree-of-freedom series head of the robot1、S2…SnThen, respectively measuring the difference value in the direction of X, Y, Z under the robot coordinate system between the theoretical position corresponding to each point in a plurality of points with obvious deformation and the position after deformation under the influence of gravity in ANSYS softwareAs position compensation values of several points with obvious deformation and recording the difference valueWherein i is 1,2.. n;
Step three, measuring in solidworks software to obtain S1、S2…SnCoordinates of each point under a robot coordinate system;
Fourthly, writing a gravity compensation PLC program in a TURBO PMAC system of the robot controller, and locating the central point of the tail end of the two-freedom-degree series head of the robot at the slave S1Point movement to SnCompensating each point position of the continuous track of the points to form a correction value of each point position, wherein the process is as follows:
Manually setting an inclusion S1、S2…SnThe continuous motion track of each point ensures that the tail end center of the two-freedom-degree series head of the robot follows the motion track from S1Point movement to SnPoint; when the central point of the tail end of the two-freedom-degree series head of the robot is positioned at S1To SnAt any point position Sawhen a belongs to 1 and 2aAdding the compensation value of the corresponding position obtained by the calculation in the second step to the theoretical position of the point location; when the central point of the tail end of the two-freedom-degree series head of the robot is positioned at the slave S1Point movement to SnAt an arbitrary point position S in the continuous motion trajectory ofb,When using SbTheoretical position of point location plus all SaX, Y, Z of the direction compensation value of (a) is calculatedaThe average value of X, Y, Z directional compensation values is formulated as:
Step five, the TURBO PMAC system outputs a compensated motion trail control signal to the robot motor to enable the central point of the tail end of the robot to be from S1point movement to SnSimultaneously, a laser tracker is utilized to track and measure the central point of the tail end of the two-freedom-degree series swinging head of the robot from S1Point movement to SnThe continuous motion track of the point is input into the operation software of the laser tracker1、S2…SnThe coordinates of each point under the robot coordinate system can generate a theoretical track;
and step six, comparing the compensated track with the theoretical track, finding out point positions with poor compensation, taking the deviation of the track acquired by the laser tracker and the theoretical track in the direction of X, Y, Z as a re-compensation numerical value of corresponding track points in the operation software of the laser tracker, then correcting the position values of the corresponding track points by adopting the re-compensation numerical value on the basis of the position correction value of each point position in the program of step four, and repeating the step five and the step six until the compensated track meets the requirements.
The beneficial effects of the invention are as follows:
1. from the perspective of a control system, gravity compensation is carried out without adding an auxiliary mechanism, and modification of the robot configuration and influence on the motion space of the robot are avoided.
2. By using the finite element simulation analysis method, the stress of the robot in any posture can be simulated and analyzed, the motion of the robot is not influenced by adding a sensor, and the data acquisition is more flexible.
3. Different compensation values can be applied to different positions by utilizing the built-in PLC to correct the kinematics in real time, so that the compensation is more accurate.
4. The precision of the laser tracker is 0.01mm, the precision of position correction can be greatly improved by using the laser tracker, and the tail end position error caused by gravity can be reduced to the greatest extent through multiple times of measurement, comparison and correction.
Drawings
Fig. 1 is a schematic structural diagram of a prior trimole horizontal hybrid robot;
Fig. 2 is a flowchart of a gravity compensation method for a trimole horizontal hybrid robot according to the present invention;
FIG. 3 shows the robot at the end of the maximum working space by S1To SnTrace schematic with n being 10 and SbA schematic diagram of (a);
Fig. 4 is a schematic diagram of the laser tracker tracking the trajectory of the end of the robot according to the present invention.
Detailed Description
The invention is explained in detail below with reference to the drawings and the embodiments.
because the parallel mechanism in the horizontal layout is greatly influenced by self gravity, the lead screw reflected in the parallel part is bent and deformed under the action of self gravity and tail end gravity in the process of extension and shortening under the driving of the motor, and the serial swinging head 5 can be regarded as a whole due to relative concentration of mass, so the tail end position deviation caused by deformation can be compensated by controlling the driving motor 1 of the parallel part.
The invention discloses a gravity compensation method for a TriMule horizontal hybrid robot based on the principle, which is shown in the attached drawings, and comprises the following steps:
Step one, mounting a laser target ball 9 at the tail end 5 of a two-degree-of-freedom serial oscillating head, and arranging a laser tracker 8 right in front of a TriMule horizontal series-parallel robot to obtain the running track of the tail end 5 of the two-degree-of-freedom serial oscillating head, wherein the laser tracker is usually arranged 2 meters away right in front of the TriMule horizontal series-parallel robot and faces the robot;
Step two, according to the flow chart of the gravity compensation method of FIG. 2, a three-dimensional virtual prototype of the TriMule horizontal hybrid robot is established in a computer by adopting solidworks software, then the three-dimensional virtual prototype is led into finite element analysis software ANSYS, and the ANSYS is used for making a deformation cloud chart of the robot at any pose in a working space under the action of gravity to obtain a deformation cloud chart of the robot in any pose in the working spaceA plurality of point positions S with obvious deformation caused by the influence of gravity on the central point of the tail end of the two-freedom-degree serial swinging head of the robot1、S2…SnThen, respectively measuring the difference value in the direction of X, Y, Z under the robot coordinate system between the theoretical position corresponding to each point in a plurality of points with obvious deformation and the position after deformation under the influence of gravity in ANSYS softwareAnd the position compensation values of a plurality of point positions with obvious deformation are recorded.
step three, measuring in solidworks software to obtain S1、S2…Sncoordinates of each point under a robot coordinate system;
Fourthly, writing a gravity compensation PLC program in a TURBO PMAC system of the robot controller, and locating the central point of the tail end of the two-freedom-degree series head of the robot at the slave S1Point movement to SnCompensating each point position of the continuous track of the points to form a correction value of each point position, wherein the process is as follows:
Manually setting an inclusion S1、S2…SnThe continuous motion track of each point ensures that the tail end center of the two-freedom-degree series head of the robot follows the motion track from S1Point movement to SnAnd (4) point. When the central point of the tail end of the two-freedom-degree series head of the robot is positioned at S1To Snat any point position Sa(a is equal to 1,2.. n), adding Saadding the compensation value of the corresponding position obtained by the calculation in the second step to the theoretical position of the point location; when the central point of the tail end of the two-freedom-degree series head of the robot is positioned at the slave S1Point movement to SnAt any point in the continuous motion trackwhen using SbTheoretical position of point location plus all SaX, Y, Z of the direction compensation value of (a) is calculatedaThe average value of X, Y, Z directional compensation values is formulated as:
Step five, the TURBO PMAC system outputs a compensated motion trail control signal to the robot motor to enable the central point of the tail end of the robot to be from S1Point movement to SnSimultaneously, a laser tracker is utilized to track and measure the central point of the tail end of the two-freedom-degree series swinging head of the robot from S1Point movement to Snthe continuous motion track of the point is input into the operation software of the laser tracker1、S2…SnThe coordinates of each point under the robot coordinate system can generate a theoretical track;
And step six, comparing the compensated track with the theoretical track, finding out point positions with poor compensation, taking the deviation of the track acquired by the laser tracker and the theoretical track in the direction of X, Y, Z as a re-compensation numerical value of corresponding track points in the operation software of the laser tracker, then correcting the position values of the corresponding track points by adopting the re-compensation numerical value on the basis of the position correction value of each point position in the program of step four, and repeating the step five and the step six until the compensated track meets the requirements.
If occurrence includes Sa,SbLocation S where any compensation is not perfectk(k epsilon N), and correcting or newly building compensation of the point in the PLC program in the previous step according to the deviation value of the track acquired by the laser tracker and the theoretical track in the direction of X, Y, Z And tracking and measuring again until the compensation effect of the point meets the requirement.
although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and those skilled in the art can make many modifications without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims (1)

1. A gravity compensation method for a TriMule horizontal hybrid robot is characterized by comprising the following steps:
Step one, mounting a laser target ball at the tail end of a two-freedom-degree series head, and arranging a laser tracker right in front of a TriMule horizontal series-parallel robot to obtain a running track of the tail end of the two-freedom-degree series head;
Step two, building a three-dimensional virtual prototype of the TriMule horizontal series-parallel robot by adopting solidworks software in a computer, then introducing the three-dimensional virtual prototype into finite element analysis software ANSYS, and making a deformation cloud chart of the robot at any pose in a working space under the action of gravity by utilizing the ANSYS to obtain a plurality of point positions S with obvious deformation caused by the influence of gravity on the central point of the tail end of the two-degree-of-freedom series head of the robot1、S2…SnThen, respectively measuring the difference value in the direction of X, Y, Z under the robot coordinate system between the theoretical position corresponding to each point in a plurality of points with obvious deformation and the position after deformation under the influence of gravity in ANSYS softwareAs position compensation values of several points with obvious deformation and recording the difference valuewherein i is 1,2.. n;
Step three, measuring in solidworks software to obtain S1、S2…SnCoordinates of each point under a robot coordinate system;
Fourthly, writing a gravity compensation PLC program in a TURBO PMAC system of the robot controller, and locating the central point of the tail end of the two-freedom-degree series head of the robot at the slave S1point movement to SnCompensating each point position of the continuous track of the points to form a correction value of each point position, wherein the process is as follows:
manually setting an inclusion S1、S2…SnThe continuous motion track of each point ensures that the tail end center of the two-freedom-degree series head of the robot follows the motion track from S1point movement to Snpoint; when the central point of the tail end of the two-freedom-degree series head of the robot is positioned at S1To SnAt any point position SaWhen a belongs to 1 and 2aAdding the compensation value of the corresponding position obtained by the calculation in the second step to the theoretical position of the point location; when the central point of the tail end of the two-freedom-degree series head of the robot is positioned at the slave S1Point movement to SnAt an arbitrary point position S in the continuous motion trajectory ofb,When using Sbtheoretical position of point location plus all SaX, Y, Z of the direction compensation value of (a) is calculatedaThe average value of X, Y, Z directional compensation values is formulated as:
step five, the TURBO PMAC system outputs a compensated motion trail control signal to the robot motor to enable the central point of the tail end of the robot to be from S1Point movement to Snsimultaneously, a laser tracker is utilized to track and measure the central point of the tail end of the two-freedom-degree series swinging head of the robot from S1point movement to SnThe continuous motion track of the point is input into the operation software of the laser tracker1、S2…SnThe coordinates of each point under the robot coordinate system can generate a theoretical track;
And step six, comparing the compensated track with the theoretical track, finding out point positions with poor compensation, taking the deviation of the track acquired by the laser tracker and the theoretical track in the direction of X, Y, Z as a re-compensation numerical value of corresponding track points in the operation software of the laser tracker, then correcting the position values of the corresponding track points by adopting the re-compensation numerical value on the basis of the position correction value of each point position in the program of step four, and repeating the step five and the step six until the compensated track meets the requirements.
CN201910722956.5A 2019-08-06 2019-08-06 Gravity compensation method for TriMule horizontal series-parallel robot Active CN110549333B (en)

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CN112643669A (en) * 2020-12-04 2021-04-13 广州机械科学研究院有限公司 Robot position deviation compensation method, system, device and storage medium
CN112893955A (en) * 2021-01-15 2021-06-04 天津大学 Hybrid robot milling error compensation method based on static stiffness model
WO2021238049A1 (en) * 2020-05-28 2021-12-02 杭州键嘉机器人有限公司 Method, apparatus and control device for multi-load self-adaptive gravity compensation of manipulator
CN117444943A (en) * 2023-12-26 2024-01-26 济南二机床集团有限公司 Series-parallel manipulator and manipulator track planning method

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