CN110962125A - A method for describing the parameters of cutting robot body based on sensitivity analysis - Google Patents
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Abstract
Description
技术领域technical field
本发明涉及切削加工机器人，具体的说是一种基于灵敏度分析的切削加工机器人本体参数描述方法。The invention relates to a cutting processing robot, in particular to a method for describing the parameters of a cutting processing robot body based on sensitivity analysis.
背景技术Background technique
工业机器人技术的进步和应用是推动我国智能制造发展的重要手段和关键环节。工业机器人柔性高、成本低、工作空间大、位姿控制灵活，将其应用于切削加工，能够适应多品种、小批量、现场加工的现代生产模式要求，显著降低生产成本，提高设备和加工空间的利用率，有效提升技术创新速度和企业竞争力。但由于工业机器人存在重复定位精度低、刚度差、误差分析控制繁琐等问题，极大限制了机器人在切削加工领域的应用。The advancement and application of industrial robot technology is an important means and key link to promote the development of intelligent manufacturing in my country. Industrial robots have high flexibility, low cost, large working space, and flexible pose control. Applying them to cutting processing can adapt to the requirements of modern production modes of multi-variety, small batch, and on-site processing, significantly reduce production costs, and improve equipment and processing space. It can effectively improve the speed of technological innovation and the competitiveness of enterprises. However, due to the problems of low repetitive positioning accuracy, poor stiffness, and cumbersome error analysis and control of industrial robots, the application of robots in the field of machining is greatly limited.
如何对切削加工机器人的误差进行有效的分析，提高加工精度，是推动机器人切削加工应用的关键问题。而实现(六自由度串联)切削加工机器人本体信息的参数化描述，则是对其进行参数化误差分析的基础，也是实现对多种类型机器人误差分析的必然选择。由于机器人类型繁多、结构复杂、参数量大，为提高参数测量和描述的效率，亟需一种基于灵敏度分析的切削加工机器人本体参数描述方法。How to effectively analyze the error of the cutting robot and improve the machining accuracy is the key issue to promote the application of robot cutting. The realization of the parametric description of (six degrees of freedom series) cutting robot body information is the basis for parameterized error analysis, and it is also an inevitable choice to realize the error analysis of various types of robots. Due to the variety of robot types, complex structure and large amount of parameters, in order to improve the efficiency of parameter measurement and description, a method for describing the parameters of cutting robot body based on sensitivity analysis is urgently needed.
发明内容SUMMARY OF THE INVENTION
本发明针对切削加工机器人的类型繁多、结构复杂、参数量大等问题，提供一种基于灵敏度分析的切削加工机器人本体参数描述方法，以通过各结构参数对机器人动特性的灵敏度分析，制定参数描述的精度准则与规范，并形成机器人本体参数的规范化描述文件。Aiming at the problems of various types of cutting robots, complex structures and large quantities of parameters, the present invention provides a method for describing the parameters of the cutting robot body based on sensitivity analysis, so as to formulate a parameter description through the sensitivity analysis of each structural parameter to the dynamic characteristics of the robot Accuracy guidelines and specifications, and form a standardized description file of robot body parameters.
本发明的一种基于灵敏度分析的切削加工机器人本体参数描述方法，解决上述技术问题采用的技术方案如下：A method for describing the parameters of a cutting robot body based on sensitivity analysis of the present invention, the technical solutions adopted to solve the above-mentioned technical problems are as follows:
一种基于灵敏度分析的切削加工机器人本体参数描述方法，包括：依据机器人结构参数分析机器人动特性的灵敏度，制定参数描述的精度准则与规范；A method for describing the parameters of a cutting robot body based on sensitivity analysis, comprising: analyzing the sensitivity of the dynamic characteristics of the robot according to the robot structure parameters, and formulating the accuracy criteria and specifications for the parameter description;
采用标准化的文件格式作为载体，将分析结果生成能够完整描述机器人本体参数的规范文件。Using a standardized file format as a carrier, the analysis results are generated into a specification file that can completely describe the parameters of the robot ontology.
具体的，所涉及机器人结构参数包括功能组件、关节连接方式、结构组成三类，其中，Specifically, the structural parameters of the robot include three categories: functional components, joint connection methods, and structural components.
功能组件包括驱动单元、连杆单元、减速器单元，Functional components include drive unit, connecting rod unit, reducer unit,
关节连接方式包括一体化连接、联轴器连接，The joint connection methods include integrated connection, coupling connection,
结构组成包括串联、并联、串并联结合；The structural composition includes series, parallel, and series-parallel combination;
根据制定参数描述的精度准则与规范，对功能组件、关节连接方式、结构组成三类参数进行灵敏度分析后，分别生成功能组件参数的描述文件、关节连接方式参数的描述文件、结构组成参数的描述文件。According to the precision criteria and specifications of the parameter description, after the sensitivity analysis of the three types of parameters of functional components, joint connection methods and structural components, description files of functional component parameters, description files of joint connection method parameters, and description of structural components parameters are generated respectively. document.
更具体的，作为载体采用的标准化文件格式为XML文件；More specifically, the standardized file format used as a carrier is an XML file;
开源xml文件生成器将功能组件参数的描述文件、关节连接方式参数的描述文件、结构组成参数的描述文件整合生成机器人本体参数的描述文件。The open source xml file generator integrates the description files of the functional component parameters, the description files of the joint connection parameters, and the description files of the structural composition parameters to generate the description files of the robot body parameters.
具体的，依据机器人结构参数分析机器人动特性的灵敏度，具体操作包括：Specifically, the sensitivity of the dynamic characteristics of the robot is analyzed according to the structural parameters of the robot, and the specific operations include:
依据机器人结构参数建立机器人仿真模型；Establish a robot simulation model according to the robot structural parameters;
依据机器人仿真模型，建立仿真动刚度模型；According to the robot simulation model, establish the simulation dynamic stiffness model;
以仿真动刚度模型为目标函数，对机器人结构参数进行灵敏度分析；Taking the simulated dynamic stiffness model as the objective function, the sensitivity analysis of the structural parameters of the robot is carried out;
确定机器人结构参数变化对机器人控制系统动态特性的影响的灵敏度，并据此制定参数描述的精度准则与规范。Determine the sensitivity of the robot's structural parameter changes to the dynamic characteristics of the robot's control system, and formulate the accuracy criteria and specifications for parameter description accordingly.
更具体的，依据仿真动刚度模型的灵敏度分析结果，将结构参数划分为敏感参数和非敏感参数。其中，More specifically, according to the sensitivity analysis results of the simulated dynamic stiffness model, the structural parameters are divided into sensitive parameters and non-sensitive parameters. in,
对敏感参数使用精度较高的仪器进行更加精确的测量，采用精度更高的算法进行参数计算和描述；Use instruments with higher precision to measure sensitive parameters more accurately, and use algorithms with higher precision to calculate and describe parameters;
对非敏感参数则可以简化其测量、描述过程。仿真动刚度模型的灵敏度分析结果，可以为机器人切削加工系统的动力修改提供依据。For insensitive parameters, the measurement and description process can be simplified. The sensitivity analysis results of the simulated dynamic stiffness model can provide the basis for the dynamic modification of the robotic machining system.
优选的，所涉及参数描述的精度准则与规范是由机械工程师通过计算编程分析权衡结构参数灵敏度之后人工制定的。Preferably, the precision criteria and specifications for the description of the parameters involved are manually formulated by the mechanical engineer after weighing the sensitivity of the structural parameters through calculation and programming analysis.
本发明的一种基于灵敏度分析的切削加工机器人本体参数描述方法，与现有技术相比具有的有益效果是：Compared with the prior art, a method for describing the parameters of a cutting robot body based on sensitivity analysis of the present invention has the following beneficial effects:
1)本发明的描述方法能够对影响机器人加工做工程动态特性的结构参数进行完整且规范性的描述，该描述可以体现各结构参数之间的类型区别和从属关系，并作为误差分析与补偿的输入信息，还可以提高不同类型机器人的参数测量和描述效率，解决因机器人种类繁多、结构复杂、参数量大而不能对参数进行统一格式描述的问题；1) The description method of the present invention can perform a complete and normative description of the structural parameters that affect the dynamic characteristics of robot processing. Input information can also improve the efficiency of parameter measurement and description of different types of robots, and solve the problem that the parameters cannot be described in a unified format due to the variety of robots, complex structures, and large quantities of parameters;
2)本发明的描述方法可以根据灵敏度分析的结果将结构参数划分为敏感参数和非敏感参数，通过对敏感参数和非敏感参数的不同测量和描述过程，在保证精度的基础上提高工作效率的同时，为机器人切削加工系统的动力修改提供依据。2) The description method of the present invention can divide the structural parameters into sensitive parameters and non-sensitive parameters according to the results of sensitivity analysis, and improve work efficiency on the basis of ensuring accuracy through different measurement and description processes for sensitive parameters and non-sensitive parameters. At the same time, it provides the basis for the power modification of the robot cutting processing system.
附图说明Description of drawings
附图1是本发明的机器人本体参数描述文件的生成流程图。FIG. 1 is a flow chart of the generation of the robot body parameter description file of the present invention.
具体实施方式Detailed ways
为使本发明的技术方案、解决的技术问题和技术效果更加清楚明白，以下结合具体实施例，对本发明的技术方案进行清楚、完整的描述。In order to make the technical solutions of the present invention, the technical problems solved and the technical effects more clearly understood, the technical solutions of the present invention are described clearly and completely below with reference to specific embodiments.
实施例一：Example 1:
结合附图1，本实施例提出一种基于灵敏度分析的切削加工机器人本体参数描述方法，包括：With reference to FIG. 1, the present embodiment proposes a method for describing parameters of a cutting robot body based on sensitivity analysis, including:
依据机器人结构参数分析机器人动特性的灵敏度，制定参数描述的精度准则与规范；Analyze the sensitivity of the dynamic characteristics of the robot according to the structural parameters of the robot, and formulate the accuracy criteria and specifications of the parameter description;
采用标准化的文件格式作为载体，将分析结果生成能够完整描述机器人本体参数的规范文件。Using a standardized file format as a carrier, the analysis results are generated into a specification file that can completely describe the parameters of the robot ontology.
在本实施例中，所涉及机器人结构参数包括功能组件、关节连接方式、结构组成三类，其中，In this embodiment, the involved robot structural parameters include three categories: functional components, joint connection methods, and structural components, wherein,
功能组件包括驱动单元、连杆单元、减速器单元，Functional components include drive unit, connecting rod unit, reducer unit,
关节连接方式包括一体化连接、联轴器连接，The joint connection methods include integrated connection, coupling connection,
结构组成包括串联、并联、串并联结合；The structural composition includes series, parallel, and series-parallel combination;
根据制定参数描述的精度准则与规范，对功能组件、关节连接方式、结构组成三类参数进行灵敏度分析后，分别生成功能组件参数的描述文件、关节连接方式参数的描述文件、结构组成参数的描述文件。According to the precision criteria and specifications of the parameter description, after the sensitivity analysis of the three types of parameters of functional components, joint connection methods and structural components, description files of functional component parameters, description files of joint connection method parameters, and description of structural components parameters are generated respectively. document.
在本实施例中，作为载体采用的标准化文件格式优选为XML文件。开源xml文件生成器将功能组件参数的描述文件、关节连接方式参数的描述文件、结构组成参数的描述文件整合生成机器人本体参数的描述文件。In this embodiment, the standardized file format used as the carrier is preferably an XML file. The open source xml file generator integrates the description files of the functional component parameters, the description files of the joint connection parameters, and the description files of the structural composition parameters to generate the description files of the robot body parameters.
在本实施例中，依据机器人结构参数分析机器人动特性的灵敏度，具体操作包括：In this embodiment, the sensitivity of the dynamic characteristics of the robot is analyzed according to the structural parameters of the robot, and the specific operations include:
依据机器人结构参数建立机器人仿真模型；Establish a robot simulation model according to the robot structural parameters;
依据机器人仿真模型，建立仿真动刚度模型；According to the robot simulation model, establish the simulation dynamic stiffness model;
以仿真动刚度模型为目标函数，对机器人结构参数进行灵敏度分析；Taking the simulated dynamic stiffness model as the objective function, the sensitivity analysis of the structural parameters of the robot is carried out;
依据仿真动刚度模型的灵敏度分析结果，将结构参数划分为敏感参数和非敏感参数，其中，According to the sensitivity analysis results of the simulated dynamic stiffness model, the structural parameters are divided into sensitive parameters and non-sensitive parameters, where,
对敏感参数使用精度较高的仪器进行更加精确的测量，采用精度更高的算法进行参数计算和描述；Use instruments with higher precision to measure sensitive parameters more accurately, and use algorithms with higher precision to calculate and describe parameters;
对非敏感参数则可以简化其测量、描述过程；For insensitive parameters, its measurement and description process can be simplified;
仿真动刚度模型的灵敏度分析结果，可以为机器人切削加工系统的动力修改提供依据。The sensitivity analysis results of the simulated dynamic stiffness model can provide the basis for the dynamic modification of the robotic machining system.
确定机器人结构参数变化对机器人控制系统动态特性的影响的灵敏度，由机械工程师通过计算编程分析权衡结构参数灵敏度之后人工制定参数描述的精度准则与规范。To determine the sensitivity of the impact of changes in the robot's structural parameters on the dynamic characteristics of the robot control system, the mechanical engineer manually formulates the accuracy criteria and specifications for the parameter description after weighing the sensitivity of the structural parameters through calculation and programming analysis.
综上可知，采用本发明的一种基于灵敏度分析的切削加工机器人本体参数描述方法，能够对影响机器人加工做工程动态特性的结构参数进行完整且规范性的描述，可以体现各结构参数之间的类型区别和从属关系，并作为误差分析与补偿的输入信息，还可以提高不同类型机器人的参数测量和描述效率，解决因机器人种类繁多、结构复杂、参数量大而不能对参数进行统一格式描述的问题。To sum up, it can be seen that the method for describing the parameters of the cutting robot body based on the sensitivity analysis of the present invention can completely and normatively describe the structural parameters that affect the dynamic characteristics of the robot processing engineering, and can reflect the difference between the structural parameters. Type distinction and affiliation, and as input information for error analysis and compensation, it can also improve the efficiency of parameter measurement and description of different types of robots, and solve problems that cannot be described in a unified format due to the variety of robots, complex structures, and large quantities of parameters. question.
以上应用具体个例对本发明的原理及实施方式进行了详细阐述，这些实施例只是用于帮助理解本发明的核心技术内容。基于本发明的上述具体实施例，本技术领域的技术人员在不脱离本发明原理的前提下，对本发明所作出的任何改进和修饰，皆应落入本发明的专利保护范围。The principles and implementations of the present invention are described in detail using specific examples above, and these examples are only used to help understand the core technical content of the present invention. Based on the above-mentioned specific embodiments of the present invention, any improvements and modifications made to the present invention by those skilled in the art without departing from the principles of the present invention shall fall within the scope of patent protection of the present invention.
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Application publication date: 20200407 Assignee: Shandong Mencius ecological agriculture Limited by Share Ltd. Assignor: Qilu University of Technology Contract record no.: X2023980046812 Denomination of invention: A sensitivity analysis based method for describing the ontology parameters of cutting robots Granted publication date: 20221004 License type: Common License Record date: 20231117 Application publication date: 20200407 Assignee: SHANDONG ZHENGFANG INTELLIGENT ROBOT INDUSTRY DEVELOPMENT Co.,Ltd. Assignor: Qilu University of Technology Contract record no.: X2023980046811 Denomination of invention: A sensitivity analysis based method for describing the ontology parameters of cutting robots Granted publication date: 20221004 License type: Common License Record date: 20231117 |
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Address after: 250353 University Road, Changqing District, Ji'nan, Shandong Province, No. 3501 Patentee after: Qilu University of Technology (Shandong Academy of Sciences) Country or region after: China Address before: 250353 University Road, Changqing District, Ji'nan, Shandong Province, No. 3501 Patentee before: Qilu University of Technology Country or region before: China |