CN110962125A - Cutting machining robot body parameter description method based on sensitivity analysis - Google Patents
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- 238000010206 sensitivity analysis Methods 0.000 title claims abstract description 32
- 238000005520 cutting process Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000003754 machining Methods 0.000 title claims abstract description 20
- 230000035945 sensitivity Effects 0.000 claims abstract description 15
- 238000004088 simulation Methods 0.000 claims description 18
- 238000004458 analytical method Methods 0.000 claims description 13
- 230000004048 modification Effects 0.000 claims description 5
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- 238000004422 calculation algorithm Methods 0.000 claims description 3
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- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 7
- 238000005259 measurement Methods 0.000 abstract description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005303 weighing Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1653—Programme controls characterised by the control loop parameters identification, estimation, stiffness, accuracy, error analysis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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Abstract
The invention discloses a cutting machining robot body parameter description method based on sensitivity analysis, and relates to the technical field of robot machining. Aiming at the problems of various types, complex structure, large parameter quantity and the like of a cutting processing robot, the technical scheme is as follows: analyzing the sensitivity of the dynamic characteristics of the robot according to the structural parameters of the robot, and formulating the precision criterion and the specification of parameter description, wherein the structural parameters of the robot comprise three types of functional components, joint connection modes and structures; according to the precision criterion and the specification of the formulated parameter description, sensitivity analysis is carried out on the three types of parameters of the robot, and description files are respectively generated; and integrating the generated three types of description files to generate a description file of the robot body parameters by using an XML file format as a carrier and using an open source XML file generator. The invention can embody type difference and dependency relationship between each structural parameter, and can improve the parameter measurement and description efficiency of different types of robots.
Description
Technical Field
The invention relates to a cutting robot, in particular to a cutting robot body parameter description method based on sensitivity analysis.
Background
The progress and application of the industrial robot technology are important means and key links for promoting the intelligent manufacturing development of China. The industrial robot has the advantages of high flexibility, low cost, large working space and flexible pose control, can meet the requirements of modern production modes of various, small-batch and field processing when being applied to cutting processing, obviously reduces the production cost, improves the utilization rate of equipment and processing space, and effectively improves the technical innovation speed and enterprise competitiveness. However, the industrial robot has the problems of low repeated positioning precision, poor rigidity, complicated error analysis and control and the like, so that the application of the robot in the field of cutting machining is greatly limited.
How to carry out effective analysis to the error of cutting process robot, improve the machining precision is the key problem who promotes the robot cutting process and use. The realization of the parameterized description of the body information of the (six-degree-of-freedom series) cutting processing robot is the basis for carrying out parameterized error analysis on the body information and is the inevitable choice for realizing the error analysis on various types of robots. Due to the fact that robots are various in types, complex in structure and large in parameter quantity, in order to improve the efficiency of parameter measurement and description, a cutting machining robot body parameter description method based on sensitivity analysis is urgently needed.
Disclosure of Invention
Aiming at the problems of various types, complex structure, large parameter quantity and the like of the cutting robot, the invention provides a cutting robot body parameter description method based on sensitivity analysis, which makes the precision criterion and specification of parameter description through the sensitivity analysis of each structural parameter to the dynamic characteristic of the robot and forms a standardized description file of the robot body parameter.
The invention discloses a cutting machining robot body parameter description method based on sensitivity analysis, which solves the technical problems by adopting the following technical scheme:
a cutting machining robot body parameter description method based on sensitivity analysis comprises the following steps: analyzing the sensitivity of the dynamic characteristics of the robot according to the structural parameters of the robot, and formulating the precision criterion and the specification of parameter description;
and adopting a standardized file format as a carrier, and generating a standard file capable of completely describing the parameters of the robot body according to an analysis result.
Specifically, the structural parameters of the robot comprise three types of functional components, joint connection modes and structures, wherein,
the functional component comprises a driving unit, a connecting rod unit and a speed reducer unit,
the joint connection mode comprises integrated connection and coupling connection,
the structure composition comprises series connection, parallel connection and combination of series connection and parallel connection;
according to the precision criterion and the specification of the formulated parameter description, after sensitivity analysis is carried out on the three parameters of the functional component, the joint connection mode and the structure composition, a description file of the functional component parameters, a description file of the joint connection mode parameters and a description file of the structure composition parameters are respectively generated.
More specifically, the standardized file format adopted as the carrier is an XML file;
and integrating the description file of the parameters of the functional components, the description file of the parameters of the joint connection mode and the description file of the parameters of the structure composition by the open-source xml file generator to generate the description file of the parameters of the robot body.
Specifically, according to the sensitivity of the robot dynamic characteristics of the robot structural parameter analysis, the specific operation includes:
establishing a robot simulation model according to the robot structure parameters;
establishing a simulation dynamic stiffness model according to the robot simulation model;
taking the simulation dynamic stiffness model as a target function, and carrying out sensitivity analysis on the structural parameters of the robot;
and determining the sensitivity of the influence of the change of the structural parameters of the robot on the dynamic characteristics of the robot control system, and establishing the precision criterion and the specification of the parameter description according to the sensitivity.
More specifically, according to the sensitivity analysis result of the simulation dynamic stiffness model, the structural parameters are divided into sensitive parameters and non-sensitive parameters. Wherein,
the sensitive parameters are more accurately measured by using an instrument with higher precision, and the parameters are calculated and described by adopting an algorithm with higher precision;
the measurement and description process of the non-sensitive parameters can be simplified. The sensitivity analysis result of the simulation dynamic stiffness model can provide a basis for the dynamic modification of the robot cutting machining system.
Preferably, the accuracy criterion and the specification of the parameter description are manually established by a mechanical engineer after weighing the sensitivity of the structural parameter through calculation programming analysis.
Compared with the prior art, the cutting machining robot body parameter description method based on sensitivity analysis has the beneficial effects that:
1) the description method can completely and standardly describe the structural parameters influencing the dynamic characteristics of the robot processing engineering, can reflect the type difference and the dependency relationship among all the structural parameters, can be used as input information for error analysis and compensation, can improve the parameter measurement and description efficiency of different types of robots, and solves the problem that the parameters cannot be described in a unified format due to various types, complex structures and large parameter quantity of the robots;
2) the description method can divide the structural parameters into sensitive parameters and non-sensitive parameters according to the sensitivity analysis result, and provides a basis for the power modification of the robot cutting and processing system while improving the working efficiency on the basis of ensuring the precision through different measurement and description processes of the sensitive parameters and the non-sensitive parameters.
Drawings
Fig. 1 is a flow chart of the generation of a robot ontology parameter description file of the present invention.
Detailed Description
In order to make the technical scheme, the technical problems to be solved and the technical effects of the present invention more clearly apparent, the following technical scheme of the present invention is clearly and completely described with reference to the specific embodiments.
The first embodiment is as follows:
with reference to fig. 1, the present embodiment provides a method for describing parameters of a cutting robot body based on sensitivity analysis, including:
analyzing the sensitivity of the dynamic characteristics of the robot according to the structural parameters of the robot, and formulating the precision criterion and the specification of parameter description;
and adopting a standardized file format as a carrier, and generating a standard file capable of completely describing the parameters of the robot body according to an analysis result.
In the embodiment, the structural parameters of the robot include three types of functional components, joint connection modes and structures, wherein,
the functional component comprises a driving unit, a connecting rod unit and a speed reducer unit,
the joint connection mode comprises integrated connection and coupling connection,
the structure composition comprises series connection, parallel connection and combination of series connection and parallel connection;
according to the precision criterion and the specification of the formulated parameter description, after sensitivity analysis is carried out on the three parameters of the functional component, the joint connection mode and the structure composition, a description file of the functional component parameters, a description file of the joint connection mode parameters and a description file of the structure composition parameters are respectively generated.
In this embodiment, the standardized file format adopted as the carrier is preferably an XML file. And integrating the description file of the parameters of the functional components, the description file of the parameters of the joint connection mode and the description file of the parameters of the structure composition by the open-source xml file generator to generate the description file of the parameters of the robot body.
In this embodiment, the method for analyzing the sensitivity of the robot dynamic characteristics according to the robot structural parameters includes:
establishing a robot simulation model according to the robot structure parameters;
establishing a simulation dynamic stiffness model according to the robot simulation model;
taking the simulation dynamic stiffness model as a target function, and carrying out sensitivity analysis on the structural parameters of the robot;
according to the sensitivity analysis result of the simulation dynamic stiffness model, the structural parameters are divided into sensitive parameters and non-sensitive parameters, wherein,
the sensitive parameters are more accurately measured by using an instrument with higher precision, and the parameters are calculated and described by adopting an algorithm with higher precision;
the measuring and describing processes of the non-sensitive parameters can be simplified;
the sensitivity analysis result of the simulation dynamic stiffness model can provide a basis for the dynamic modification of the robot cutting machining system.
Determining the sensitivity of the influence of the change of the structural parameters of the robot on the dynamic characteristics of the robot control system, and manually establishing the precision criterion and the specification of the parameter description after weighing the sensitivity of the structural parameters through calculation, programming and analysis by a mechanical engineer.
In summary, the method for describing the parameters of the cutting machining robot body based on sensitivity analysis can be used for completely and normatively describing the structural parameters influencing the dynamic characteristics of the machining engineering of the robot, can reflect the type difference and the dependency relationship among the structural parameters, can be used as input information for error analysis and compensation, can improve the efficiency of measuring and describing the parameters of different types of robots, and solves the problem that the parameters cannot be described in a unified format due to various types, complex structures and large parameter quantity of the robot.
The principles and embodiments of the present invention have been described in detail using specific examples, which are provided only to aid in understanding the core technical content of the present invention. Based on the above embodiments of the present invention, those skilled in the art should make any improvements and modifications to the present invention without departing from the principle of the present invention, and therefore, the present invention should fall into the protection scope of the present invention.
Claims (6)
1. A cutting machining robot body parameter description method based on sensitivity analysis is characterized by comprising the following steps:
analyzing the sensitivity of the dynamic characteristics of the robot according to the structural parameters of the robot, and formulating the precision criterion and the specification of parameter description;
and adopting a standardized file format as a carrier, and generating a standard file capable of completely describing the parameters of the robot body according to an analysis result.
2. The cutting machining robot body parameter description method based on sensitivity analysis is characterized in that the robot structure parameters comprise three types of functional components, joint connection modes and structures, wherein,
the functional component comprises a driving unit, a connecting rod unit and a speed reducer unit,
the joint connection mode comprises integrated connection and coupling connection,
the structure composition comprises series connection, parallel connection and series-parallel connection combination;
according to the precision criterion and the specification of the formulated parameter description, after sensitivity analysis is carried out on the three parameters of the functional component, the joint connection mode and the structure composition, a description file of the functional component parameters, a description file of the joint connection mode parameters and a description file of the structure composition parameters are respectively generated.
3. The cutting machining robot body parameter description method based on sensitivity analysis is characterized in that a standardized file format adopted as a carrier is an XML file;
and integrating the description file of the parameters of the functional components, the description file of the parameters of the joint connection mode and the description file of the parameters of the structure composition by the open-source xml file generator to generate the description file of the parameters of the robot body.
4. The cutting machining robot body parameter description method based on sensitivity analysis according to claim 1, wherein the specific operations of analyzing the sensitivity of the robot dynamic characteristics according to the robot structural parameters comprise:
establishing a robot simulation model according to the robot structure parameters;
establishing a simulation dynamic stiffness model according to the robot simulation model;
taking the simulation dynamic stiffness model as a target function, and carrying out sensitivity analysis on the structural parameters of the robot;
and determining the sensitivity of the influence of the change of the structural parameters of the robot on the dynamic characteristics of the robot control system, and establishing the precision criterion and the specification of the parameter description according to the sensitivity.
5. The cutting machining robot body parameter description method based on the sensitivity analysis is characterized in that structural parameters are divided into sensitive parameters and non-sensitive parameters according to the sensitivity analysis result of the simulation dynamic stiffness model;
the sensitive parameters are more accurately measured by using an instrument with higher precision, and the parameters are calculated and described by adopting an algorithm with higher precision;
the measuring and describing processes of the non-sensitive parameters can be simplified;
the sensitivity analysis result of the simulation dynamic stiffness model can provide a basis for the dynamic modification of the robot cutting machining system.
6. The method for describing the parameters of the cutting robot body based on the sensitivity analysis of the claim 4 is characterized in that the accuracy criterion and the specification of the parameter description are manually established after a mechanical engineer balances the sensitivity of the structural parameters through calculation programming analysis.
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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 |