CN110837708A - Simulation checking method of robot, storage medium and processor - Google Patents
Simulation checking method of robot, storage medium and processor Download PDFInfo
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Abstract
The invention relates to a simulation checking method of a robot, which comprises the following steps: s10, establishing a finite element model of the robot; s30, calculating the quality parameters of each joint arm in the robot; s50, establishing a dynamic model of the robot according to the quality parameters of each joint arm in the robot, and planning the working track of each joint arm in the robot; s70, calculating dynamic torque borne by each joint arm in the robot; s90 checks each articulated arm in the robot based on the dynamic torque of each articulated arm. The invention also relates to a storage medium and a processor comprising the simulation checking method of the robot. According to the simulation checking method of the robot, the storage medium and the processor, the dynamic torque of each articulated arm obtained by the simulation result is used for checking each articulated arm in the robot, the actual load of each articulated arm in the working process is more approximate, the simulation checking precision of each articulated arm in the robot is improved, the structure of the robot is allowed to be designed according to the actual load of the robot, and the whole weight of the robot is favorably reduced.
Description
Technical Field
The invention relates to the field of mechanical design, in particular to a simulation checking method of a robot, a storage medium and a processor.
Background
With the continuous development of computer technology towards intellectualization and the continuous expansion and deepening of the application field of the robot, the industrial robot becomes a high and new technology industry, plays a great role in the industrial automation level and plays an increasingly important role in future production and social development. The structural design of the industrial robot is an important link in the design of the industrial robot, the function and the performance of the robot are directly affected by the quality of the structural design, and especially in recent years, the requirement on light design is higher and higher under the condition that the structure of the robot meets the strength and the rigidity. At present, the maximum output torque of a joint driving motor is usually selected as the load of a joint arm for calculation during checking of the joint arm of the robot, and the obtained result is too conservative and is not beneficial to the overall weight reduction of the robot.
Disclosure of Invention
Therefore, it is necessary to provide a simulation verification method, a storage medium, and a processor for a robot, which are directed to the problems of the conventional robot articulated arm that the simulation verification is too conservative and the quality of the articulated arm is large.
A simulation checking method of a robot comprises the following steps:
s10, establishing a finite element model of the robot;
s30, calculating the quality parameters of each joint arm in the robot;
s50, establishing a dynamic model of the robot according to the quality parameters of each joint arm in the robot, and planning the working track of each joint arm in the robot;
s70, calculating dynamic torque borne by each joint arm in the robot;
s90 checks each articulated arm in the robot based on the dynamic torque of each articulated arm.
In one embodiment, a finite element model of the robot is built using hypermesh in said step S10.
In one embodiment, the step S30 includes: s32, establishing a DH coordinate system of the robot in hypermesh; s34, adjusting the finite element model of the robot to enable the origin of the reference coordinate system of the finite element model to coincide with the origin of the DH coordinate system; s36 calculating the quality parameters of each joint arm in the robot in hypermesh.
In one embodiment, the step S34 of adjusting the finite element model of the robot includes moving and/or rotating the finite element model of the robot.
In one embodiment, a kinetic model of the robot is created in said step S50 using MATLAB.
In one embodiment, a kinetic model of the robot is created in said step S50 using a robotics toolbox tool in MATLAB.
In one embodiment, each articulated arm in the robot is calibrated in the hypermesh according to the dynamic torque of each articulated arm in said step S90.
In one embodiment, a dynamic curve of the torque applied to each articulated arm in the robot is obtained in step S70.
In one embodiment, in the step S90, the maximum torque value of each articulated arm is taken to check the static strength and stiffness of the corresponding articulated arm, and the dynamic torque borne by each articulated arm in the robot is taken to check the fatigue life of the corresponding articulated arm.
In one embodiment, the mass parameters in step S30 include mass, center of gravity, and moment of inertia.
In one embodiment, in the step S50, the working trajectory of each articulated arm in the robot is planned according to the working start point and the working end point of each articulated arm in the robot.
A storage medium comprising a stored program, wherein the program executes a simulation verification method for a robot according to any one of the above aspects.
A processor, configured to execute a program, where the program executes a simulation verification method for a robot according to any one of the above aspects.
According to the simulation checking method of the robot, the storage medium and the processor, the dynamic torque of each joint arm obtained by the simulation result is used for checking each joint arm in the robot, the actual load of each joint arm in the working process is more approximate, the simulation checking precision of each joint arm in the robot is improved, a designer is allowed to design the structure of the robot according to the actual load of the robot, and the whole weight of the robot is favorably reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a simulation verification method for a robot according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for calculating a mass parameter of each articulated arm in a robot according to an embodiment of the present invention;
FIG. 3 is a diagram of a kinetic model of a robot built in MATLAB according to an embodiment of the present invention;
fig. 4 is a schematic diagram of planning a motion trajectory of a robot in MATLAB according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating the torque dynamics experienced by an articulated arm according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating a result of calibrating an articulated arm based on dynamic torque of the articulated arm, according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. In contrast, when an element is referred to as being "directly connected" to another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
In the description of the present invention, it is to be understood that the terms "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner and are not to be construed as limiting the present invention.
With the continuous development of computer technology towards intellectualization and the continuous expansion and deepening of the application field of the robot, the robot becomes a high and new technology industry, plays a great role in industrial automation level, and plays an increasingly important role in future production and social development. Generally, robots are widely used in electronic products, such as automobile industry, plastic industry, pharmaceutical industry, and food industry, to perform operations such as carrying, assembling, spraying, and welding, instead of manual operations, thereby improving production efficiency. The structural design of the robot is an important link in the design of the robot, the function and the performance of the robot are directly affected by the quality of the structural design, and especially in recent years, the requirement on light design is higher and higher under the condition that the structure of the robot meets the strength and the rigidity. The invention provides a simulation checking method of a robot, a storage medium and a processor, which can effectively reduce the whole weight of the robot by checking each articulated arm by using the actual load of each articulated arm in the robot.
As shown in fig. 1, the present invention provides a simulation verification method for a robot, including:
s10, establishing a finite element model of the robot;
s30, calculating the quality parameters of each joint arm in the robot;
s50, establishing a dynamic model of the robot according to the quality parameters of each joint arm in the robot, and planning the working track of each joint arm in the robot;
s70, calculating dynamic torque borne by each joint arm in the robot;
s90 checks each articulated arm in the robot based on the dynamic torque of each articulated arm.
According to the simulation checking method of the robot, the dynamic torque of each joint arm obtained by the simulation result is used for checking each joint arm in the robot, the actual load of each joint arm in the working process is closer, the simulation checking precision of each joint arm in the robot is improved, a designer is allowed to design the structure of the robot according to the actual load of the robot, and the whole weight of the robot is favorably reduced.
Optionally, the process of establishing the finite element model of the robot in step S10 may be to establish the three-dimensional model of the robot through three-dimensional software (including common three-dimensional modeling software such as PRO/E, Solidworks, CATIA, or Inventor), and then introduce the three-dimensional model of the robot into finite element preprocessing software (including common finite element preprocessing software such as Hypemesh or msc. Or a finite element model of the robot can be directly established in finite element software. In an embodiment of the present invention, a finite element model of the robot is built in step S10 using hypermesh. The finite element model of the robot is directly established by using the hypermesh, so that errors generated in the process of introducing the three-dimensional model into the hypermesh are avoided. Obtaining and calculating the quality parameters of each articulated arm in the robot is a key step in the simulation verification method for the robot provided by the embodiment. Further, as shown in fig. 2, the step S30 includes: s32, establishing a DH coordinate system of the robot in hypermesh; s34, adjusting the finite element model of the robot to enable the origin of the reference coordinate system of the finite element model to coincide with the origin of the DH coordinate system; s36 calculating the quality parameters of each joint arm in the robot in hypermesh. The quality parameters of each joint arm in the robot are directly calculated in hypermesh, and errors caused by the fact that three-dimensional software is adopted to calculate the quality parameters are also avoided.
It is understood that the reference coordinate system origin of the finite element model is coincident with the DH coordinate system origin, which is a prerequisite for calculating the quality parameters of each articulated arm in the robot, and the step S34 of adjusting the finite element model of the robot includes moving and/or rotating the finite element model of the robot. It should be understood that when only moving or rotating the finite element model of the robot achieves the coincidence of the reference coordinate system origin of the finite element model with the DH coordinate system origin, only the corresponding finite element model of the moving or rotating robot is needed. When the superposition of the reference coordinate system origin and the DH coordinate system origin of the finite element model cannot be achieved by a single moving or rotating finite element model of the robot, the finite element model of the robot needs to be moved first and then rotated, or rotated first and then moved. If the reference coordinate system origin of the finite element robot model coincides with the DH coordinate system origin without moving or rotating, the steps S32 and S34 are skipped. In an embodiment of the present invention, the mass parameters in step S30 include mass, center of gravity, and moment of inertia, which are all parameters necessary for the dynamics analysis of the robot.
Because the shape and the structure of the robot and each joint in the robot are complex, the quality parameter of each joint arm in the robot is complex to directly settle by using a theoretical mechanics formula or a material mechanics formula. After the quality parameters of all the joint arms in the robot are calculated by using hypermesh, a dynamic model of the robot can be manually established according to the actual parameters of the robot and the connection relation of all the joint arms, or the dynamic model of the robot is still established by using an auxiliary tool through a computer. In one embodiment of the present invention, a kinetic model of the robot is established in said step S50 using MATLAB. MATLAB is used as mature modeling and calculating software, and can efficiently and quickly establish the dynamics models of most of conventional robots. Further, in the step S50, a robot toolbox tool in MATLAB is used to build a robot dynamic model, so that the efficiency of accurately building the robot dynamic model can be further improved. As a practical way, in step S50, the working trajectory of each articulated arm in the robot is planned according to the working start point and the working end point of each articulated arm in the robot. The process from the starting point to the end point of each joint arm completely comprises the working process of the robot under various working conditions, and the requirement of checking the structure of the robot can be met.
Before checking each articulated arm in the robot, obtaining the dynamic load born by each articulated arm in the robot is a key step, wherein especially obtaining the dynamic torque born by each articulated arm in the robot is more important. In an embodiment of the present invention, in step S70, a dynamic curve of the torque applied to each articulated arm in the robot is obtained. Alternatively, the dynamic curve for the torque experienced by each articulated arm in the robot may still be calculated by a robotics toolbox tool in MATLAB. Or the checker manually establishes a dynamic model of the robot according to the actual parameters of the robot and the connection relation of each joint arm, then sets the working track of each joint arm in the robot and calculates to obtain the dynamic curve of the torque born by each joint arm in the robot according to the knowledge of advanced mathematics. The invention is not limited to a specific method for obtaining the dynamic curve of the torque borne by each articulated arm in the robot, as long as each articulated arm in the robot can be calibrated according to the dynamic torque of each articulated arm. In real world conditions, the failure of an articulated arm within a robot is typically a fatigue failure. As an effective checking method, each articulated arm in the robot is checked in the step S90 according to the dynamic torque of each articulated arm, that is, the load value borne by each articulated arm is added as a load to the finite element model of the robot. In step S90, the maximum torque value of each joint arm is taken to check the static strength and stiffness of the corresponding joint arm, and the dynamic torque borne by each joint arm in the robot is taken to check the fatigue life of the corresponding joint arm. It can be understood that when the maximum torque value borne by any one articulated arm exceeds the output torque of the corresponding motor, the corresponding motor or the relevant structure of the robot should be adjusted.
The present invention also provides a storage medium including a stored program, wherein the program executes the simulation verification method for a robot according to any one of the above embodiments. The storage medium checks each articulated arm in the robot by using the dynamic torque of each articulated arm obtained by the simulation result, is closer to the actual load of each articulated arm in the working process, improves the simulation checking precision of each articulated arm in the robot, further allows a designer to design the structure of the robot according to the actual load of the robot, and is beneficial to reducing the whole weight of the robot.
The invention further provides a processor, which is used for running a program, wherein the program executes the simulation checking method of the robot in any one of the above embodiments when running. The processor checks each articulated arm in the robot by using the dynamic torque of each articulated arm obtained by the simulation result, is closer to the actual load of each articulated arm in the working process, improves the simulation checking precision of each articulated arm in the robot, further allows a designer to design the structure of the robot according to the actual load of the robot, and is beneficial to reducing the whole weight of the robot.
In a specific embodiment of the invention, firstly, a finite element model of the robot is established in a hypermesh surface, then, a DH coordinate system of the robot is established in the hypermesh surface, and a DH parameter of each articulated arm is obtained. For example, when the robot includes 5 articulated arms, DH parameters of the 5 articulated arms are shown in the following table;
| 1 | 2 | 3 | 4 | 5 | |
| a | 320 | 1150 | 0 | 235 | 0 |
| α | -90 | 0 | -90 | 90 | -90 |
| |
0 | 0 | 4 | 1191 | 0 |
| θ | 0 | -90 | 0 | 0 | 0 |
and moving and rotating the finite element model of the robot to enable the origin of the coordinate system of the finite element model to coincide with the origin of the DH reference coordinate system, and then calculating the weight, the mass center and the moment of inertia of each joint arm in hypermesh. For example, the parameters of the center of gravity of one of the articulated arms are as follows:
Number of Components：21
Mass of Model：0.370008
Center of Gravity for Model–X：6.855018E+02Y：7.608839E+02Z：-4.64261E+02
establishing a dynamic model of the robot in MATLAB according to the quality parameters of each joint arm in the robot, as shown in FIG. 3, wherein part of codes are as follows:
clear；
clc；
theta＝[...]
...
Jm＝[...]
for i＝1:6
L(i)＝Link([theta(i)d(i)a(i)alpha(i)],'standard')
L(i).m＝m(i)；
L(i).I＝[IXX(i)IYY(i)IZZ(i)IXY(i)IYZ(i)IXZ(i)]；
L(i).r＝[x(i)y(i)z(i)]；
L(i).qlim＝[min(i)max(i)]；
L(i).G＝G(i)；
L(i).Jm＝Jm(i)；
end
robet＝SerialLink(L,'name','test')；
T1＝[q1_1,q2_1,q3_1,q4_1,q5_1,q6_1]；
p1＝robet.fkine(T1)；
q1＝robet.ikine(p1)；
T2＝[q1_2,q2_2,q3_2,q4_2,q5_2,q6_2]；
p2＝robet.fkine(T2)；
q2＝robet.ikine(p2)；
n＝
t＝[0:tmax/(n-1):tmax]；
[q,qd,qdd]＝jtraj(q1,q2,t)；
tau1＝r.rne(q,qd,qdd)；
for j＝1:6
for k＝1:n
N(i)＝tau1(k,j)；
end
subplot(2,3,j)
plot(t,N,'k')；
numb(j)＝num2str(j)；
tit strcat ('joint', numb (j), 'result')
title(tit)；
lege — legend ('torque map');
xlabel ('time');
ylabel ('torque');
end
according to the dynamic model of the robot, the track of each joint arm in the robot is planned, as shown in fig. 4, and the torque change curve born by each joint arm is output. For example, the torque curve experienced by one of the articulated arms is shown in fig. 5. And inputting the calculated torque as a load into a finite element model of the robot in Hypermesh, and checking the load of the static strength and the rigidity of the articulated arm by taking the maximum value of the torque. Meanwhile, the change curve of the torque is used as the alternating load input to check the fatigue life of the articulated arm. As shown in fig. 6, the black arrows indicate the applied torque.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (13)
1. A simulation checking method of a robot is characterized by comprising the following steps:
s10, establishing a finite element model of the robot;
s30, calculating the quality parameters of each joint arm in the robot;
s50, establishing a dynamic model of the robot according to the quality parameters of each joint arm in the robot, and planning the working track of each joint arm in the robot;
s70, calculating dynamic torque borne by each joint arm in the robot;
s90 checks each articulated arm in the robot based on the dynamic torque of each articulated arm.
2. The simulation verification method of a robot as claimed in claim 1, wherein a finite element model of the robot is established using hypermesh in the step S10.
3. The simulation verification method for a robot according to claim 2, wherein the step S30 includes: s32, establishing a DH coordinate system of the robot in hypermesh; s34, adjusting the finite element model of the robot to enable the origin of the reference coordinate system of the finite element model to coincide with the origin of the DH coordinate system; s36 calculating the quality parameters of each joint arm in the robot in hypermesh.
4. The method for checking the simulation of a robot according to claim 3, wherein the adjusting the finite element model of the robot in the step S34 includes moving and/or rotating the finite element model of the robot.
5. The simulation verification method for a robot according to claim 1, wherein a kinetic model of the robot is created using MATLAB in the step S50.
6. The method for checking the simulation of a robot according to claim 5, wherein a kinetic model of the robot is created in the step S50 using a robotics toolbox tool in MATLAB.
7. The simulation verification method of a robot according to claim 1, wherein each articulated arm in the robot is verified in the step S90 in terms of the dynamic torque of each articulated arm in hypermesh.
8. The simulation verification method for a robot according to any one of claims 1 to 7, wherein a dynamic curve of the torque applied to each articulated arm in the robot is obtained in step S70.
9. The simulation verification method of a robot according to claim 8, wherein in step S90, the maximum torque of each articulated arm is taken to verify the static strength and stiffness of the corresponding articulated arm, and the dynamic torque of each articulated arm in the robot is taken to verify the fatigue life of the corresponding articulated arm.
10. The simulation verification method for a robot according to any one of claims 1 to 7, wherein the mass parameters in the step S30 include mass, center of gravity, and moment of inertia.
11. The simulation verification method for a robot according to any one of claims 1 to 7, wherein in step S50, the working trajectory of each articulated arm in the robot is planned according to the working start point and the working end point of each articulated arm in the robot.
12. A storage medium characterized in that the storage medium includes a stored program, wherein the program executes the simulation checking method of a robot according to any one of claims 1 to 11.
13. A processor, characterized in that the processor is configured to run a program, wherein the program is configured to execute the simulation verification method of a robot according to any one of claims 1 to 11 when running.
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| CN107545127A (en) * | 2017-10-13 | 2018-01-05 | 北京工业大学 | A kind of industrial robot joint rigidity modeling method for considering contact |
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| US20140222372A1 (en) * | 2013-02-05 | 2014-08-07 | Hexagon Technology Center Gmbh | Variable modelling of a measuring device |
| CN106777475A (en) * | 2016-11-17 | 2017-05-31 | 贵州大学 | A kind of injection machine arm dynamics synergy emulation method of confined space constraint |
| CN106802979A (en) * | 2016-12-26 | 2017-06-06 | 南京熊猫电子股份有限公司 | Based on finite element analysis welding robot Model Simplification Method |
| CN107545127A (en) * | 2017-10-13 | 2018-01-05 | 北京工业大学 | A kind of industrial robot joint rigidity modeling method for considering contact |
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