CN110837708B - Simulation checking method of robot, storage medium and processor - Google Patents
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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 quality parameters of all joint arms 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 born by each joint arm in the robot; s90, checking each joint arm in the robot according to the dynamic torque of each joint 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, the storage medium and the processor of the robot, dynamic torque of each joint arm obtained through simulation results is used for checking each joint arm in the robot, the actual load of each joint arm in the working process is more similar, the simulation checking precision of each joint 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 reduced.
Description
Technical Field
The present invention relates to the field of mechanical design, and in particular, to a simulation checking method for a robot, a storage medium, and a processor.
Background
With the continuous development of computer technology to the intelligent direction, the continuous expansion and deepening of the application field of robots, industrial robots become a high and new technology industry, play a great role in the industrial automation level, and play 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 quality of the structural design directly influences the functions and the performances of the robot, and particularly, the requirements of light-weight design are higher and higher in recent years under the condition that the structural design 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 the joint arm to calculate when the joint arm of the robot is checked, so that the obtained result is too conservative, and the whole weight reduction of the robot is not facilitated.
Disclosure of Invention
Based on the above, it is necessary to provide a simulation checking method, a storage medium and a processor for a robot, aiming at the problems of over conservation of simulation checking and large quality of the joint arm existing in the prior robot joint arm.
A simulation checking method of a robot comprises the following steps:
s10, establishing a finite element model of the robot;
s30, calculating quality parameters of all joint arms 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 born by each joint arm in the robot;
s90, checking each joint arm in the robot according to the dynamic torque of each joint arm.
In one embodiment, a hypermesh is used to build a finite element model of the robot in step S10.
In one embodiment, the step S30 includes: s32, establishing a DH coordinate system of the robot in the hypermesh; s34, adjusting a finite element model of the robot to enable a reference coordinate system origin of the finite element model to coincide with a DH coordinate system origin; s36, calculating the quality parameters of each joint arm in the robot in the hypermesh.
In one embodiment, the adjusting the finite element model of the robot in step S34 includes moving and/or rotating the finite element model of the robot.
In one of the embodiments, a kinetic model of the robot is built using MATLAB in said step S50.
In one embodiment, a kinetic model of the robot is built in said step S50 using robotics toolbox tools in MATLAB.
In one embodiment, each of the articulated arms in the robot is checked in hypermesh in step S90 based on the dynamic torque of each of the articulated arms.
In one embodiment, a dynamic profile of the torque experienced by each articulated arm within the robot is derived in step S70.
In one embodiment, in the step S90, the maximum torque value of each joint arm is taken to check the static strength and rigidity of the corresponding joint arm, and the dynamic torque bearing of each joint arm in the robot is taken to check the fatigue life of the corresponding joint arm.
In one embodiment, the mass parameter in the step S30 includes mass, center of gravity, and moment of inertia.
In one embodiment, in the step S50, the working track of each joint arm in the robot is planned according to the working start point and the working end point of each joint arm in the robot.
A storage medium comprising a stored program, wherein the program performs the simulation verification method of the robot according to any one of the above schemes.
The processor is characterized in that the processor is used for running a program, wherein the program executes the simulation checking method of the robot according to any one of the schemes.
According to the simulation checking method, the storage medium and the processor of the robot, dynamic torque of each joint arm obtained through simulation results is used for checking each joint arm in the robot, the actual load of each joint arm in the working process is more similar, 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 reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a simulation checking method of a robot according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for calculating quality parameters 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 one embodiment of the present invention;
FIG. 6 is a schematic diagram of the dynamic torque verification of an articulated arm according to one embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description is intended to illustrate the invention, and not to limit the invention.
It will be understood that when an element is referred to as being "fixed 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 are used herein for illustrative purposes only.
In the description of the present invention, it should be understood that the terms "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the present invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
With the continuous development of computer technology towards intelligence, the application field of robots is continuously expanded and deepened, and robots become a high-technology industry, play a great role in the industrial automation level and play 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, food industry, etc., to perform operations such as handling, assembling, spraying, welding, etc., instead of manual operations, thereby improving production efficiency. The structural design of the robot is an important link in the design of the robot, and the quality of the structural design directly influences the functions and the performances of the robot, and particularly, the requirements of light-weight design are higher and higher under the condition that the structural design of the robot meets the strength and the rigidity in recent years. The invention provides a simulation checking method, a storage medium and a processor of a robot, which are capable of effectively reducing the overall weight of the robot by checking each joint arm by using the actual load of each joint arm in the robot.
As shown in fig. 1, the present invention provides a simulation checking method for a robot, including:
s10, establishing a finite element model of the robot;
s30, calculating quality parameters of all joint arms 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 born by each joint arm in the robot;
s90, checking each joint arm in the robot according to the dynamic torque of each joint arm.
According to the simulation checking method of the robot, dynamic torque of each joint arm obtained through 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 similar, 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 reduced.
Alternatively, the process of creating the finite element model of the robot in the step S10 may be to create a three-dimensional model of the robot by three-dimensional software (including PRO/E, solidworks, CATIA or Inventor, etc. commonly used three-dimensional modeling software), and then import the three-dimensional model of the robot into finite element preprocessing software (including Hypemesh or msc. Patran, etc. commonly used finite element preprocessing software) to perform mesh division. The finite element model of the robot can also be established directly in finite element software. In one embodiment of the present invention, a hypermesh is used to build a finite element model of the robot in the step S10. The hypermesh is directly used for establishing a finite element model of the robot, so that errors generated in the process of importing the three-dimensional model into the hypermesh are avoided. The acquisition of the quality parameters of each joint arm in the calculation robot is a key step in the simulation checking method of 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 the hypermesh; s34, adjusting a finite element model of the robot to enable a reference coordinate system origin of the finite element model to coincide with a DH coordinate system origin; s36, calculating the quality parameters of each joint arm in the robot in the hypermesh. The quality parameters of all the joint arms in the robot are directly calculated in the hypermesh, and errors generated by calculating the quality parameters by adopting three-dimensional software are avoided.
It will be appreciated that the coincidence of the origin of the reference coordinate system and the origin of the DH coordinate system of the finite element model is a precondition for calculating the quality parameters of each joint arm in the robot, and as a possible way, the adjusting the finite element model of the robot in step S34 includes moving and/or rotating the finite element model of the robot. It should be appreciated that when only the finite element model of the mobile or rotating robot can implement that the reference coordinate system origin of the finite element model coincides with the DH coordinate system origin, only the corresponding finite element model of the mobile or rotating robot is required. When the origin of the reference coordinate system of the finite element model and the origin of the DH coordinate system cannot be coincident by a single moving or rotating finite element model of the robot, it is necessary to move the finite element model of the robot first and then rotate, or rotate first and then move. If the origin of the reference coordinate system of the finite element model of the robot coincides with the origin of the DH coordinate system without moving or rotating, the step S32 and the step S34 are skipped. In an embodiment of the present invention, the mass parameters in the step S30 include a mass, a center of gravity, and a moment of inertia, which are parameters necessary for the dynamics analysis of the robot.
Because the shape and structure of the robot and each joint in the robot are complex, the quality parameters of each joint arm in the robot are complex to directly settle by using a theoretical mechanical formula or a material mechanical 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 can be still established by using an auxiliary tool through a computer. In one embodiment of the present invention, a kinetic model of the robot is built using MATLAB in said step S50. MATLAB is used as mature modeling and calculating software, and can efficiently and rapidly establish dynamics models of most conventional robots. Further, in the step S50, the robot dynamics model is built by using the robotics tool in MATLAB, so that the efficiency of accurately building the robot dynamics model can be further improved. As an implementation manner, in the step S50, the working track of each joint arm in the robot is planned according to the working start point and the working end point of each joint 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 the structural check of the robot can be met.
Before checking each joint arm in the robot, it is a critical step to obtain the dynamic load born by each joint arm in the robot, wherein it is more important to obtain the dynamic torque born by each joint arm in the robot. In one embodiment of the present invention, a dynamic curve of the torque applied to each arm of the robot is obtained in step S70. Alternatively, the dynamic curve that yields the torque experienced by each articulated arm within the robot may still be calculated by the robotics toolbox tool in MATLAB. Or a verifier manually establishes a dynamic model of the robot according to the actual parameters of the robot and the connection relation of the joint arms, then sets the working track of the joint arms in the robot and calculates the dynamic curve of the bearing torque of the joint arms in the robot according to the knowledge of higher mathematics. The invention is not limited to a specific method for obtaining the dynamic curve of the bearing torque of each joint arm in the robot, as long as each joint arm in the robot can be checked according to the dynamic torque of each joint arm. In actual conditions, the failure of the articulated arm within the robot is typically a fatigue failure. As an effective verification method, in step S90, each joint arm in the robot is verified based on the dynamic torque of each joint arm in hypermesh, that is, the load value received by each joint arm is added as a load to the finite element model of the robot. In the step S90, the maximum torque value of each joint arm is taken to check the static strength and rigidity of the corresponding joint arm, and the dynamic torque born by each joint arm in the robot is taken to check the fatigue life of the corresponding joint arm. It will be appreciated that when the maximum torque value experienced by any one of the articulated arms exceeds the output torque of the corresponding motor, the corresponding motor or associated 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 of the robot according to any one of the above embodiments. According to the storage medium, the dynamic torque of each joint arm obtained through 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 similar, 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 reduced.
The invention also provides a processor for running a program, wherein the program runs to execute the simulation checking method of the robot in any one of the above embodiments. According to the processor, the dynamic torque of each joint arm obtained through 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 similar, 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 reduced.
In a specific embodiment of the present invention, a finite element model of the robot is built in the hypermesh, and then a DH coordinate system of the robot is built in the hypermesh, and DH parameters of each joint arm are 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 |
| d | 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 a coordinate system of the finite element model to coincide with the origin of a DH reference coordinate system, and then calculating the weight, the mass center and the moment of inertia of each joint arm in the hypermesh. For example, the center of gravity parameters 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
and establishing a kinetic model of the robot in the MATLAB according to the quality parameters of each joint arm in the robot, wherein the partial codes are as follows as shown in figure 3:
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 = strat ('joint', number (j), 'result')
title(tit)；
lege = legend ('torque map');
xlabel ('time');
yabel ('torque');
end
and (3) carrying out track planning on each joint arm in the robot according to a dynamic model of the robot, and outputting a torque change curve born by each joint arm as shown in fig. 4. For example, the torque profile experienced by one of the articulated arms is shown in fig. 5. And (3) inputting the calculated torque as a load into a finite element model of the robot in the Hypermesh, and checking the static strength and the rigidity of the joint arm by taking the maximum value of the torque. And meanwhile, the change curve of the torque is used as alternating load input to check the fatigue life of the joint arm. As shown in fig. 6, the black arrows represent the applied torque.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (9)
1. The simulation checking method of the robot is characterized by comprising the following steps of:
s10, establishing a finite element model of the robot;
s32, establishing a DH coordinate system of the robot in hypermesh; s34, adjusting a finite element model of the robot to enable a reference coordinate system origin of the finite element model to coincide with the DH coordinate system origin; s36, calculating mass parameters of each joint arm in the robot in the hypermesh, wherein the mass parameters comprise mass, gravity center and moment of inertia S50, a dynamic model of the robot is built according to the mass parameters of each joint arm in the robot, and working tracks of each joint arm in the robot are planned;
s70, calculating the dynamic torque born by each joint arm in the robot, and obtaining a dynamic curve of the torque born by each joint arm in the robot;
s90, inputting the calculated dynamic torque into a finite element model of the robot as a load in the Hypermesh, checking the static strength and rigidity of the corresponding joint arm by taking the maximum torque value of each joint arm, and checking the fatigue life of the corresponding joint arm by taking the dynamic torque born by each joint arm in the robot.
2. The simulation verification method of a robot according to claim 1, wherein the hypermesh is used to build a finite element model of a robot in the step S10.
3. The method according to claim 1, wherein the step S34 of adjusting the finite element model of the robot includes moving and/or rotating the finite element model of the robot.
4. The simulation verification method of a robot according to claim 1, wherein a kinetic model of the robot is built using MATLAB in the step S50.
5. The method according to claim 4, wherein the kinetic model of the robot is built using robotics toolbox tool in MATLAB in step S50.
6. The simulation verification method of a robot according to claim 1, wherein each joint arm in the robot is verified according to a dynamic torque of each joint arm in the hypermesh in the step S90.
7. The method according to any one of claims 1 to 6, wherein in the step S50, the working trajectory of each joint arm in the robot is planned according to the working start point and the working end point of each joint arm in the robot.
8. A storage medium comprising a stored program, wherein the program performs the simulation verification method of the robot according to any one of claims 1 to 7.
9. A processor, characterized in that the processor is configured to run a program, wherein the program, when run, performs the simulation checking method of the robot according to any one of claims 1-7.
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| 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 |
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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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| EP2762829B1 (en) * | 2013-02-05 | 2020-05-27 | Hexagon Technology Center GmbH | Variable modelling of a measuring device |
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| 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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