CN110587659B - Large-range high-precision robot performance testing method - Google Patents

Large-range high-precision robot performance testing method Download PDF

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Publication number
CN110587659B
CN110587659B CN201910886604.3A CN201910886604A CN110587659B CN 110587659 B CN110587659 B CN 110587659B CN 201910886604 A CN201910886604 A CN 201910886604A CN 110587659 B CN110587659 B CN 110587659B
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point
pull rope
target
telescopic electric
slidable
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CN110587659A (en
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马春生
张建伟
李瑞琴
程芳
张俊辕
米文博
马振东
尹晓秦
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North University of China
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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

Abstract

The invention discloses a method for testing the performance of a robot with large range and high precision, which relates to a testing device, the device comprises a 3-SPR parallel bracket, a chute bracket, a slidable base, a pull rope displacement sensor, a target, a pull rope and an information processing panel, wherein the 3-SPR parallel bracket comprises an upper platform, a lower platform and a telescopic electric cylinder, the telescopic electric cylinder is connected with the lower platform and the upper platform, the chute bracket comprises chutes and a central groove, the head ends of the three chutes are connected with the central groove in a junction manner, the tail ends of the three chutes are fixed on the upper platform, the chutes are respectively connected with the slidable base in a sliding manner, wherein two stay cord displacement sensor are respectively installed to two slidable bases, and the slidable base installation of another one is three, and stay cord displacement sensor passes through the stay cord and connects the target, and the mechanism under test is connected to the target, and the platform under information processing panel locates, and connects stay cord displacement sensor and flexible electric jar. The application range of the scheme is wide, the motion performance parameters of the mechanism to be tested can be accurately acquired, and the defects of small testable space and large error in the prior art are overcome.

Description

Large-range high-precision robot performance testing method
Technical Field
The invention relates to the field of mechanics and robotics, in particular to a method for testing performance of a robot with large range and high precision.
Background
With the continuous development of science and technology, new products are continuously emerged, the automation level of enterprises is also continuously improved, the market of mechanisms and robots is more and more in demand and more in variety.
The parallel mechanism is a closed loop mechanism which connects a moving platform and a fixed platform through a plurality of branches, and is characterized in that each branch chain can simultaneously receive input of a driver and jointly determine output of the moving platform. Compared with a series mechanism, the multi-closed-loop space kinematic chain of the parallel mechanism has the advantages of increased rigidity, reduced accumulative error, better kinematic performance and more compact structure, and can be widely applied to industrial production once being provided. Especially, the parallel mechanism provides a new hotspot for the research of robots and machine tools, makes up the defects of the serial mechanism, attracts the wide attention of the engineering and academic circles at home and abroad due to the advantages of large structural rigidity, strong bearing capacity, high position precision and the like of the parallel mechanism, and people continuously focus on the research and development of novel parallel mechanisms for decades.
At present, robots in China are various in types, technical differences of manufacturers are large, and various performance indexes are freely selected by the manufacturers. The travel, speed, track and precision of different robots are greatly different, and the requirements on test equipment are different.
The current testing equipment comprises tools such as a laser tracker, a three-coordinate measuring instrument and the like. The laser tracker has the function of tracking the space motion, thereby meeting the requirement of space measurement, but can cause certain error in the aspect of angle calculation conversion, and the long distance can cause the error too big, and is expensive moreover. The three-coordinate measuring instrument is used for placing a measured object in the middle of the measuring instrument and obtaining the motion parameters of the measured object through the probe with high precision for measurement, but the measurement parameter range of the three-coordinate measuring instrument is limited, the three-coordinate measuring instrument is easily influenced by environmental factors, and the occupied space of the three-coordinate measuring instrument is very large.
For example, patent 201610913686.2 discloses a system and method for verifying robot kinematics and dynamics model, the testing mechanism employs six pull rope displacement sensors and torque sensors, and the mathematical model is complicated to calculate through examination and calculation, and the six pull rope displacement sensors are distributed on a hexagonal plate, which results in an excessively large occupied space of the robot and is not favorable for installation and transportation. When the mechanical arm is in the extreme position, the included angle of the outlet of the stay cord displacement sensor is too small, so that the precision is influenced, and the defects of small test space range, large error of the extreme position and the like are indirectly caused.
Disclosure of Invention
The invention aims to provide a robot performance testing method with large range and high precision aiming at the defects of the prior testing technology, overcomes the factors of small testing space, large error of limit position and the like, can accurately draw the motion trail of a mechanism to be tested, collects the important motion parameters of the robot to be tested, and has wide testing space and wide applicable range.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a robot performance test method with large range and high precision relates to a robot performance test device with large range and high precision, which comprises a 3-SPR parallel bracket, a chute bracket, a slidable base, a pull rope displacement sensor, a target, a pull rope and an information processing panel, wherein the 3-SPR parallel bracket comprises an upper platform, a lower platform and three telescopic electric cylinders, the lower platform is connected with the telescopic electric cylinders, and the upper platform is connected with the telescopic electric cylinders; the sliding groove support comprises three horizontal long-strip-shaped sliding grooves and a central groove positioned in the center, the three sliding grooves are respectively connected with a slidable base in a sliding mode, two pull rope displacement sensors are respectively installed on the two slidable bases, three pull rope displacement sensors are installed on the other slidable base, the pull rope displacement sensors are connected with a target through pull ropes, the target is connected to a mechanism to be tested, the information processing panel is arranged on the lower platform, and the information processing panel is connected with the pull rope displacement sensors and the telescopic electric cylinder and obtains the length of the pull rope and the length of the telescopic electric cylinder; the test method comprises the following steps:
1) the structure of the testing device is simplified: the 3-SPR parallel support is simplified into a triangular prism, the connecting point of the telescopic electric cylinder and the lower platform is set as MNP to form a triangular MNP, the position of the slidable base on the upper platform is ABC three points, the lengths of the three electric cylinders forming the triangular ABC, 3-SPR parallel support are line segments AM, BN and CP,
there are three assigned position on the target, set up three assigned position and be DEF three point, constitute triangle-shaped DEF, connect three assigned position respectively with three stay cords of one of them slidable base, four stay cords on two other slidable bases are according to 2: the ratio of 1:1 is respectively connected with three designated positions, three points ABC and three points DEF are connected through line segments, namely the length of seven line segments AE, AD, AF, BE, BF, CF and CD is the length of the pull rope;
2) setting a coordinate system: the plane of the triangle MNP is provided with an origin, an X axis and a Y axis, and the Z axis is arranged perpendicular to the plane of the triangle MNP, so that a coordinate system OXYM is formed, and the coordinates of an M point, an N point and a P point are obtained;
3) and (3) parameter calculation: knowing the coordinates of the M point, the N point and the P point, calculating the position of the ABC point in a coordinate system OXYZ by performing inverse solution operation on the 3-SPR parallel mechanism, subdividing the pull rope displacement sensor into three triangular pyramids, namely a triangular pyramid F-ABC, a triangular pyramid E-FAB and a triangular pyramid D-FAC, and setting the lengths of three edges of the F-ABC as lFA、lFB、lFCFrom the geometric relationship, the following equation can be established:
Figure BDA0002207473450000031
the coordinates of the F point, i.e. x, can thus be obtainedF、yF、zFThree values; similarly, coordinates of two points D, E can be obtained, and then coordinates of a middle point of the triangle DEF, namely the motion position of the mechanism to be measured, can be obtained;
calculating the collected rope length change data repeatedly according to the steps to obtain all point sets of the coordinates of the DEF intermediate point of the triangle, namely the motion trail of the mechanism to be measured;
and converting with time based on the motion trail to obtain the motion speed of the mechanism to be measured.
And the motion speed is converted with time, so that the motion acceleration of the mechanism to be measured can be obtained.
The lower platform is connected with the telescopic electric cylinder through a spherical hinge, and the upper platform is connected with the telescopic electric cylinder through a rotating hinge.
After the scheme is adopted, the gain effect of the invention is as follows:
the tested mechanism drives the target to move when starting to move, the target is not close to the limit position at the moment, the 3-SPR parallel support is in a rest state, when the movement range of the target is close to the limit position, the upper platform of the 3-SPR parallel support automatically adjusts the elongation of the three electric cylinders, the position and the posture of the upper platform are changed, the target can continuously move along with the tested mechanism, and therefore the effect of expanding the test range is achieved. When the target moves from the beginning to the upper platform to change and provide a movement process of a large-scale test, the stay cord displacement sensor and the electric cylinder feed back stay cord length change data and electric cylinder length change data to the information processing panel in real time, and the information processing panel collects the change data to calculate the space position and the movement track of the target, namely the space position and the movement track of the tested mechanism. The error that produces when can effectively avoiding because extreme position stay cord exit angle undersize, and do not limit because of factors such as surrounding environment, measured object are too fast, angle change, improve the measuring accuracy, more wide application is on most measured mechanism.
Drawings
FIG. 1 is a flow chart of the operation of the present invention;
FIG. 2 is a schematic view of the overall structure of the present invention;
FIG. 3 is a perspective view of the chute support of the present invention;
FIG. 4 is a schematic view of the structure of the center wheel and the lead screw of the present invention;
FIG. 5 is a perspective view of the slidable base of the present invention with three pull cord displacement sensors mounted thereon;
FIG. 6 is a perspective view of the slidable base of the present invention with two pull cord displacement sensors mounted thereon;
FIG. 7 is a perspective view of the telescopic electric cylinder of the present invention;
FIG. 8 is a perspective view of the upper platform of the present invention;
FIG. 9 is a perspective view of the lower platform of the present invention (with the base installed);
FIG. 10 is a perspective view of a target of the present invention;
FIG. 11 is a schematic diagram of the movement process of the present invention;
FIG. 12 is a schematic diagram of a coordinate system of the present invention.
Description of reference numerals:
the device comprises a 3-SPR parallel support 1, an upper platform 11, a clamping groove 111, a lower platform 12, a telescopic electric cylinder 13, a spherical hinge 14, a hinge 15, a sliding groove support 2, a sliding groove 21, a lead screw 211, a bevel gear 212, a rear plate 213, a guide groove 214, a circular shaft 215, a central groove 22, a central wheel 221, a tooth-engaging groove 222, a through hole 223, a slidable base 3, a guide table 31, a through hole 311, an internal threaded hole 32, a pull rope displacement sensor 4, a target 5, a pull rope 6, an information processing panel 7, a base 8 and a suction cup 81.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise, please refer to fig. 1 to 12.
A large-range high-precision robot performance testing device comprises a 3-SPR parallel support 1, a sliding groove support 2, a slidable base 3, a pull rope displacement sensor 4, a target 5, a pull rope 6, an information processing panel 7 and a base 8.
As shown in fig. 2, the 3-SPR parallel bracket 1 includes an upper platform 11, a lower platform 12 and three telescopic electric cylinders 13, the telescopic electric cylinders 13 are electric cylinders with extendable and retractable length, three telescopic electric cylinders 13 are connected between the lower platform 12 and the upper platform 11, the three telescopic electric cylinders 13 are annularly and uniformly distributed between the upper platform 11 and the lower platform 12, the lower platform 12 is connected with the telescopic electric cylinders 13 through a spherical hinge 14, and the upper platform 11 is connected with the telescopic electric cylinders 13 through a rotating hinge 15.
The chute support 2 comprises three horizontal long-strip chutes 21 and a central groove 22 located at the center, the head ends of the three chutes 21 are uniformly connected to the outer wall of the central groove 22, the tail ends of the three chutes 21 are fixed on the upper platform 11, and in order to facilitate the disassembly of the chute support 2, the tail ends of the chutes 21 are fixed on the upper platform 11 in an assembly structure.
The three sliding grooves 21 are respectively connected with one slidable base 3 in a sliding mode, two pull rope displacement sensors 4 are respectively installed on the two slidable bases, the other slidable base is provided with three pull rope displacement sensors 4, the pull rope displacement sensors 4 are connected with a target 5 through pull ropes 6, and the target 5 is connected to a mechanism to be measured. In one embodiment, the target 5 is a regular triangle-shaped plate, three designated positions are arranged on the plate, three pull ropes 6 of one of the two slidable bases are respectively connected with the three designated positions, and four pull ropes 6 of the other two slidable bases are arranged in a way that the ratio of the pull ropes 6 is 2: the 1:1 ratios are connected at three designated locations, respectively.
The slidable bases 3 are divided into two types, and the two types have approximately the same shape, wherein two slidable bases are a first type of slidable base, as shown in fig. 5, and two pull rope displacement sensors 4 are respectively arranged on the two slidable bases, and the other slidable base is a second type of slidable base, as shown in fig. 6, and three pull rope displacement sensors 4 are arranged on the slidable base. The rope displacement sensor 4 is fixed to the slidable base 3.
The information processing panel 7 is arranged on the lower platform 12, the information processing panel 7 is connected with the stay cord displacement sensor 4 and the telescopic electric cylinder 13, the base 8 is arranged below the lower platform 12 to support the lower platform 12, and fixing components such as a sucker 81 can be arranged at the bottom of the base 8 to be fixed on the ground.
In the preferred embodiment, the slidable base 3 slides on the sliding slot 21 more stably, the central wheel 221 is arranged in the central slot 22, the rim of the central wheel 221 forms an annular engaging slot 222, each of the three sliding slots 21 is provided with a lead screw 211 parallel to the sliding slot 21, the outer wall of the central slot 22 is respectively provided with a through hole 223 at the head end position of the three sliding slots 21, the front end of the lead screw 211 passes through the through hole 223 and forms a bevel gear 212 to be matched with the engaging slot 222, the shaft body of the lead screw 211 forms an external thread, the slidable base 3 is provided with an internal thread hole 32, the slidable base 3 is connected to the lead screw 211 through thread matching, the lead screw 211 rotates forwards or backwards, and the slidable base 3 can slide along the lead screw 211, the tail end of the sliding slot 21 forms a back plate 213 perpendicular to the sliding slot 21, the back end of the lead screw 211 can be rotatably connected to the back plate 213, specifically, the, a disc matched with the round hole is formed at the rear end of the screw rod; the screw 211 is used for driving, so that the slidable base 3 can slide stably, and the sliding is more labor-saving and smooth; when the slidable base 3 needs to move, the center wheel 221 can be engaged with the bevel gear 212 to simultaneously rotate the three lead screws 211 at a constant speed, and the lead screws 211 are engaged with the slidable base 3 to synchronously and precisely move the slidable base 3.
In order to improve the stability and the fluency of the sliding connection structure and reduce the weight of the sliding chute 21, two lateral guide grooves 214 are respectively formed on two sides of the sliding chute 21, guide platforms 31 are convexly arranged on the two sides of the slidable base 3 corresponding to the positions of the guide grooves 214, and the guide platforms 31 are embedded into the guide grooves 214. The stability of guide table 31 when embedding guide way 214 is further optimized again, be equipped with horizontal round axle 215 in the guide way 214, guide table 31 is equipped with through-hole 311 and supplies round axle 215 to cooperate the wearing and putting, can avoid guide table 31 to drop out from guide way 214, and it is more firm to slide.
As shown in fig. 11, the mechanism to be tested drives the target 5 to move when starting to move, at this time, the target 5 is not close to the limit position, the 3-SPR parallel bracket 1 is in the rest state, and when the movement range of the target 5 is close to the limit position, the upper platform 11 of the 3-SPR parallel bracket 1 automatically adjusts the elongation of the three electric cylinders, changes the position and the posture of the upper platform 11, so that the target 5 can continuously move along with the mechanism to be tested, thereby realizing the effect of expanding the test range. When the target 5 moves from the beginning to the upper platform 11 to change and provide a large-scale test movement process, the stay cord displacement sensor 4 and the electric cylinder feed back the stay cord length change data and the electric cylinder length change data of the stay cord 6 to the information processing panel 7 in real time, and the information processing panel 7 collects the change data to calculate the space position and the movement track of the target 5, namely the space position and the movement track of the tested mechanism. In addition, by designing the 3-SPR parallel mechanism as the movable support of the testing device, the testing range of the testing device is greatly enlarged, errors caused by the fact that the angle of the outlet of the pulling rope 6 at the limit position is too small can be effectively avoided, limitation caused by factors such as the surrounding environment, the too fast speed of a tested object, angle change and the like is avoided, and the testing precision is improved. The present case can the wide application be in most measured mechanism, and the practicality is strong.
A method for testing the performance of a robot with wide range and high precision is disclosed, as shown in FIG. 12, the method comprises:
1) the structure of the testing device is simplified: the 3-SPR parallel bracket 1 is simplified into a triangular prism, the connecting point of the telescopic electric cylinder 13 and the lower platform 12 is set as MNP to form a triangular MNP, the position of the slidable base 3 on the upper platform 11 is three points ABC, the lengths of the three telescopic electric cylinders 13 forming the triangular ABC and 3-SPR parallel bracket 1 are line segments AM, BN and CP,
there are three assigned position on the target 5, set up three assigned position and be DEF three point, constitute triangle-shaped DEF, connect three assigned position respectively with three stay cords 6 of one of them slidable base 3, four stay cords 6 on two other slidable bases 3 are according to 2: the ratio of 1:1 is respectively connected with three designated positions, three points ABC and three points DEF are connected through line segments, namely the length of seven line segments AE, AD, AF, BE, BF, CF and CD is the length of the pull rope 6;
2) setting a coordinate system: the plane of the triangle MNP is provided with an origin, an X axis and a Y axis, and the Z axis is arranged perpendicular to the plane of the triangle MNP, so that a coordinate system OXYM is formed, and the coordinates of an M point, an N point and a P point are obtained;
3) and (3) parameter calculation: knowing the coordinates of the M point, the N point and the P point, the positions of the ABC three points in a coordinate system OXYZ can be obtained by carrying out inverse solution operation on the 3-SPR parallel mechanism, the pull rope displacement sensor 4 can be subdivided into three triangular pyramids, namely a triangular pyramid F-ABC, a triangular pyramid E-FAB and a triangular pyramid D-FAC, and the lengths of three edges of the F-ABC are respectively lFA、lFB、lFCFrom the geometric relationship, the following equation can be established:
Figure BDA0002207473450000091
the coordinates of the F point, i.e. x, can thus be obtainedF、yF、zFThree values; similarly, the coordinates of the two points D, E can be found, and then the coordinates of the middle point of the triangle DEF, i.e., the mechanism under test, can be foundA movement position;
calculating the collected rope length change data repeatedly according to the steps to obtain all point sets of the coordinates of the DEF intermediate point of the triangle, namely the motion trail of the mechanism to be measured;
and converting with time based on the motion trail to obtain the motion speed of the mechanism to be measured.
The invention can also be converted with time based on the movement speed, and the movement acceleration of the mechanism to be measured can be obtained.
The side lengths of the triangle DEF, the triangle ABC and the triangle MNP can be determined according to the specified position in actual operation and the position of the slidable base 3, so that more flexibility and a larger working space are provided for the invention.
The foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (3)

1. A robot performance test method with large range and high precision relates to a robot performance test device with large range and high precision, which comprises a 3-SPR parallel bracket, a chute bracket, a slidable base, a pull rope displacement sensor, a target, a pull rope and an information processing panel, wherein the 3-SPR parallel bracket comprises an upper platform, a lower platform and three telescopic electric cylinders, the lower platform is connected with the telescopic electric cylinders, and the upper platform is connected with the telescopic electric cylinders; the sliding chute bracket comprises three horizontal long-strip-shaped sliding chutes and a central groove positioned in the center, the head ends of the three sliding chutes are uniformly connected to the outer wall of the central groove in a junction mode, the tail ends of the three sliding chutes are fixed on the upper platform, the three sliding chutes are respectively connected with a slidable base in a sliding mode, two pull rope displacement sensors are respectively installed on the two slidable bases, the other slidable base is provided with three pull rope displacement sensors, the pull rope displacement sensors are connected with a target through pull ropes, the target is connected to a mechanism to be tested, the information processing panel is arranged on the lower platform and is connected with the pull rope displacement sensors and the telescopic electric cylinder, and the length of the pull rope and the length of the telescopic electric cylinder are obtained; the test method comprises the following steps:
1) the structure of the testing device is simplified: the 3-SPR parallel support is simplified into a triangular prism, the connecting point of the telescopic electric cylinder and the lower platform is set as MNP to form a triangular MNP, the position of the slidable base on the upper platform is ABC three points, the lengths of the three electric cylinders forming the triangular ABC, 3-SPR parallel support are line segments AM, BN and CP,
there are three assigned position on the target, set up three assigned position and be DEF three point, constitute triangle-shaped DEF, connect three assigned position respectively with three stay cords of one of them slidable base, four stay cords on two other slidable bases are according to 2: the ratio of 1:1 is respectively connected with three designated positions, three points ABC and three points DEF are connected through line segments, namely the length of seven line segments AE, AD, AF, BE, BF, CF and CD is the length of the pull rope;
2) setting a coordinate system: the plane of the triangle MNP is provided with an origin, an X axis and a Y axis, and the Z axis is arranged perpendicular to the plane of the triangle MNP, so that a coordinate system OXYM is formed, and the coordinates of an M point, an N point and a P point are obtained;
3) and (3) parameter calculation: knowing the coordinates of the M point, the N point and the P point, calculating the position of the ABC point in a coordinate system OXYZ by performing inverse solution operation on the 3-SPR parallel mechanism, subdividing the pull rope displacement sensor into three triangular pyramids, namely a triangular pyramid F-ABC, a triangular pyramid E-FAB and a triangular pyramid D-FAC, and setting the lengths of three edges of the F-ABC as lFA、lFB、lFCFrom the geometric relationship, the following equation can be established:
Figure FDA0002829585060000021
the coordinates of the F point, i.e. x, can thus be obtainedF、yF、zFThree values; similarly, coordinates of two points D, E can be obtained, and then coordinates of a middle point of the triangle DEF, namely the motion position of the mechanism to be measured, can be obtained;
calculating the collected rope length change data repeatedly according to the steps to obtain all point sets of the coordinates of the DEF intermediate point of the triangle, namely the motion trail of the mechanism to be measured;
and converting with time based on the motion trail to obtain the motion speed of the mechanism to be measured.
2. The method for testing the performance of the robot with wide range and high precision as claimed in claim 1, wherein: and the motion speed is converted with time, so that the motion acceleration of the mechanism to be measured can be obtained.
3. The method for testing the performance of the robot with wide range and high precision as claimed in claim 1, wherein: the lower platform is connected with the telescopic electric cylinder through a spherical hinge, and the upper platform is connected with the telescopic electric cylinder through a rotating hinge.
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