CN110991126B - Cutting machining robot dynamic stiffness modeling method based on modal analysis - Google Patents
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Abstract
The invention discloses a cutting machining robot dynamic stiffness modeling method based on modal analysis, which relates to the technical field of robot machining, and adopts the technical scheme that components and component contact characteristics affecting error analysis in a robot are required to be subjected to theoretical analysis, a dynamic stiffness theoretical sub-model of each component and component contact characteristics is established by adopting a calculation modal analysis method, and a complete machine dynamic stiffness theoretical model of the robot is established by adopting a modal comprehensive theory; meanwhile, carrying out a modal experiment on the whole robot, establishing a dynamic stiffness experimental model and a modal model of the whole robot through acquisition and processing of excitation and response data, identifying modal parameters and carrying out verification of the dynamic stiffness experimental model of the whole robot; and correcting the whole dynamic stiffness theoretical model through the whole dynamic stiffness experimental model to construct the whole dynamic stiffness model meeting the precision requirement. The dynamic stiffness model of the robot constructed by the invention has higher precision.
Description
Technical Field
The invention relates to a cutting machining robot, in particular to a dynamic stiffness modeling method of the cutting machining robot based on modal analysis.
Background
The progress and application of industrial robot technology are important means and key links for promoting intelligent manufacturing development in China. The industrial robot has the advantages of high flexibility, low cost, large working space and flexible pose control, is applicable to cutting processing, can adapt to the modern production mode requirements of multi-variety, small-batch and on-site processing, obviously reduces the production cost, improves the utilization rate of equipment and processing space, and effectively improves the technical innovation speed and the enterprise competitiveness. However, the industrial robot has the problems of low repeated positioning precision, poor rigidity, complicated error analysis control and the like, so that the application of the robot in the field of cutting processing is greatly limited.
How to effectively analyze the errors of the cutting machining robot and effectively improve the machining precision is a key problem for pushing the robot to apply cutting machining. For static errors, an error model can be established and corrected through a robot kinematics calibration method. For analysis of dynamic errors, a dynamic stiffness model of the robot needs to be established. The robot is composed of components of each part, and the contact characteristics among the components of the robot form the overall dynamic characteristics of the robot. The existing dynamic stiffness modeling method is mostly based on a material mechanical deformation calculation method, the end deformation of the robot is calculated through stiffness vector superposition, and the dynamic stiffness of the robot is calculated by combining with the load of the robot.
Disclosure of Invention
Aiming at the needs and the shortcomings of the prior art, the invention provides a cutting machining robot dynamic stiffness modeling method based on modal analysis.
The invention discloses a dynamic stiffness modeling method of a cutting machining robot based on modal analysis, which solves the technical problems and adopts the following technical scheme:
a cutting machining robot dynamic stiffness modeling method based on modal analysis carries out theoretical analysis on components and component contact characteristics affecting error analysis in a robot, a dynamic stiffness theoretical sub-model of the component and component contact characteristics is built by adopting a calculation modal analysis method, and a complete machine dynamic stiffness theoretical model of the robot is built by a modal comprehensive theory;
meanwhile, carrying out a modal experiment on the whole robot, establishing a dynamic stiffness experimental model and a modal model of the whole robot through acquisition and processing of excitation and response data, identifying modal parameters and carrying out verification of the dynamic stiffness experimental model of the whole robot;
and correcting the whole dynamic stiffness theoretical model through the whole dynamic stiffness experimental model to construct the whole dynamic stiffness model meeting the precision requirement.
Furthermore, before theoretical analysis is performed on components and component contact characteristics affecting error analysis in the robot, a model class library is required to be called according to a description file of robot body parameters;
a) The description file of the robot body parameters can be a normative file capable of completely describing the robot body parameters, and the generation process of the description file comprises the following steps:
a1 According to the structural parameters of the robot, the sensitivity of the dynamic characteristics of the robot is analyzed, the structural parameters comprise three types of functional components, joint connection modes and structural components, wherein the functional components comprise a driving unit, a connecting rod unit and a speed reducer unit, the joint connection modes comprise integrated connection and coupling connection, and the structural components comprise serial connection, parallel connection and serial-parallel connection;
a2 Formulating precision criteria and specifications of the parameter description according to the analysis result;
a3 Using a standardized file format as a carrier, and generating a standardized file capable of completely describing robot body parameters from an analysis result;
b) The model class library is designed by applying an object-oriented method, and the design process comprises the following steps:
b1 Establishing a robot component error analysis base class by means of a tool SQLserver, wherein the base class comprises an ID, an error analysis method and other attributes and is used for analyzing the reasons for generating component errors;
b2 Deriving a functional component class and an articulation mode class from the robot component error analysis base class, wherein,
the functional component class is analysis of the influence of rigidity of the component on errors, and derives two subclasses of rod class and speed reducer class;
the joint connection mode is analysis of the influence of the contact stiffness of the assembly, and derives two subclasses of integral connection and coupling connection;
b3 Packaging base class and derived subclasses, and calling the packaging information of the model class library by the description file of the robot body parameters when the dynamic stiffness theoretical model of the whole robot is established.
Further, according to the structural parameters of the robot, the sensitivity analysis of the dynamic characteristics of the robot includes:
establishing a robot simulation model according to the robot structural parameters;
establishing a simulated dynamic stiffness model according to the robot simulation model;
performing sensitivity analysis on the structural parameters of the robot by taking the simulated dynamic stiffness model as an objective function;
the sensitivity of the influence of the change of the structural parameters of the robot on the dynamic characteristics of the robot control system is determined, the sensitivity of the structural parameters is weighed by a mechanical engineer through calculation, programming and analysis, and then the precision criteria and specifications of the parameter description are manually formulated.
Further, according to the sensitivity analysis result of the simulation dynamic stiffness model, the structural parameters are divided into sensitive parameters and non-sensitive parameters;
for sensitive parameters, more accurate measurement is carried out by using an instrument with higher precision, and parameter calculation and description are carried out by adopting an algorithm with higher precision;
the measurement and description processes of the non-sensitive parameters can be simplified; the sensitivity analysis result of the simulation dynamic stiffness model can provide basis for power modification of the robot cutting system.
Furthermore, the standardized file format adopted as the carrier is an XML file;
according to the precision criteria and specifications of formulated parameter description, after sensitivity analysis is carried out on three parameters of the functional component, the joint connection mode and the structure composition, a description file of the parameters of the functional component, a description file of the parameters of the joint connection mode and a description file of the parameters of the structure composition are respectively generated;
the open source xml file generator integrates the description file of the functional component parameters, the description file of the articulation mode parameters and the description file of the structural composition parameters to generate the description file of the robot body parameters.
Further, the specific process of establishing the complete machine dynamic stiffness theoretical model of the robot through the modal comprehensive theory comprises the following steps:
carrying out modal experiments on components and component contact characteristics affecting error analysis in the robot, establishing a dynamic stiffness experiment sub-model and a modal sub-model of the components and component contact characteristics through acquisition and processing of excitation and response data, identifying modal parameters and carrying out verification of the dynamic stiffness experiment sub-model;
correcting the dynamic stiffness theoretical sub-model of the corresponding component and the component contact characteristic through the dynamic stiffness experimental sub-model, and constructing the dynamic stiffness sub-model meeting the precision requirement;
and synthesizing the dynamic stiffness sub-model meeting the precision requirement into a complete machine dynamic stiffness theoretical model of the robot through a modal synthesis theory.
Furthermore, before the dynamic stiffness theoretical sub-model of the corresponding component and the component contact characteristic is corrected by the dynamic stiffness experimental sub-model, the minimum factors influencing the error analysis need to be removed according to the theoretical analysis result, and the variables of the dynamic stiffness theoretical sub-model are simplified.
Specifically, the specific process for correcting the whole dynamic stiffness theoretical model through the whole dynamic stiffness experimental model is as follows:
step 1: inputting the technological parameters into a controller, executing a processing track by the controller, and acquiring experimental data through a dynamometer and an acceleration sensor;
step 2: performing Fourier transform on the acquired acceleration data to acquire vibration amplitude spectrum data, performing logarithmic operation on the amplitude spectrum data, and then constructing amplitude spectrum cepstrum data through inverse Fourier transform;
step 3: performing exponential window filtering operation on the amplitude spectrum cepstrum data constructed in the step (2), and then performing cepstrum operation on the filtered cepstrum data to construct vibration amplitude spectrum data under random excitation;
the method comprises the following steps: performing Fourier transform on the acquired acceleration data to construct vibration phase spectrum data;
step 5: carrying out inverse Fourier transform on the amplitude spectrum and the phase spectrum data constructed in the step 3 and the step 4, and constructing an acceleration time domain signal under random excitation in the processing process;
step 6: and 5, identifying modal parameters by using the time domain signal constructed in the step through a least square complex frequency domain method, obtaining a functional relation between the end deformation of the cutting robot and the changing cutting force, and further constructing the dynamic stiffness model of the whole cutting robot, which meets the precision requirement.
The dynamic stiffness modeling method of the cutting machining robot based on modal analysis has the beneficial effects that compared with the prior art:
1) The method comprises the steps of establishing a complete machine dynamic stiffness theoretical model of the robot by adopting a mode analysis method, establishing a complete machine dynamic stiffness experimental model and a mode model of the robot by carrying out a mode experiment on the complete machine of the robot, and finally correcting the complete machine dynamic stiffness theoretical model by the complete machine dynamic stiffness experimental model to establish a complete machine dynamic stiffness model meeting the precision requirement so as to accurately describe the actual motion deformation process of each component of the robot;
2) The modeling process of the invention needs to call a model class library according to the description file of the robot body parameters, wherein the description file of the robot body parameters is a normative file which is generated after the sensitivity analysis of three structural parameters of a functional component, a joint connection mode and a structure of the robot and can completely describe the robot body parameters, the model class library is designed by applying an object-oriented method and is packaged with a model component error analysis base class, and the model class library is called by the description file of the robot body parameters, so that the modeling process of the dynamic stiffness model of the whole machine is simplified, and the precision of the dynamic stiffness model of the whole machine is improved.
Drawings
FIG. 1 is a flow chart of a method of the present invention for building a model of overall stiffness;
FIG. 2 is a flow chart of a method for establishing a theoretical model of the dynamic stiffness of the whole machine;
fig. 3 is a flowchart of generating a robot ontology parameter description file according to the present invention.
Detailed Description
In order to make the technical scheme, the technical problems to be solved and the technical effects of the invention more clear, the technical scheme of the invention is clearly and completely described below by combining specific embodiments.
Embodiment one:
with reference to fig. 1 and 2, this embodiment provides a cutting robot dynamic stiffness modeling method based on modal analysis, and the implementation process of the method includes:
step one, calling a model class library according to a description file of robot body parameters;
a) The description file of the robot body parameters can completely describe the normative file of the robot body parameters, and the generation process of the description file comprises the following steps of:
a1 According to the structural parameters of the robot, the sensitivity of the dynamic characteristics of the robot is analyzed, the structural parameters comprise three types of functional components, a joint connection mode and a structural component, wherein the functional components comprise a driving unit, a connecting rod unit and a speed reducer unit, the joint connection mode comprises integrated connection and shaft coupling connection, and the structural component comprises serial connection, parallel connection and serial-parallel connection;
a2 Formulating precision criteria and specifications of the parameter description according to the analysis result;
a3 Using a standardized file format as a carrier, and generating a standardized file capable of completely describing robot body parameters from an analysis result;
b) The model class library is designed by applying an object-oriented method, and the design process comprises the following steps:
b1 Establishing a robot component error analysis base class by means of a tool SQLserver, wherein the base class comprises an ID, an error analysis method and other attributes and is used for analyzing the reasons for generating component errors;
b2 Deriving a functional component class and an articulation mode class from the robot component error analysis base class, wherein,
the functional component class is analysis of the influence of rigidity of the component on errors, and derives two subclasses of rod class and speed reducer class;
the joint connection mode is analysis of the influence of the contact stiffness of the assembly, and derives two subclasses of integral connection and coupling connection;
b3 Packaging base class and derived subclasses, and calling the packaging information of the model class library by the description file of the robot body parameters when the dynamic stiffness theoretical model of the whole robot is established.
In step a 1), according to the structural parameters of the robot, the sensitivity analysis of the dynamic characteristics of the robot comprises the following specific operations:
establishing a robot simulation model according to the robot structural parameters;
establishing a simulated dynamic stiffness model according to the robot simulation model;
performing sensitivity analysis on the structural parameters of the robot by taking the simulated dynamic stiffness model as an objective function;
the sensitivity of the influence of the change of the structural parameters of the robot on the dynamic characteristics of the robot control system is determined, the sensitivity of the structural parameters is weighed by a mechanical engineer through calculation, programming and analysis, and then the precision criteria and specifications of the parameter description are manually formulated.
In step a 3) of step one, the standardized file format employed as a carrier is an XML file. According to the precision criteria and specifications of formulated parameter description, after sensitivity analysis is carried out on three parameters of the functional component, the joint connection mode and the structure composition, a description file of the parameters of the functional component, a description file of the parameters of the joint connection mode and a description file of the parameters of the structure composition are respectively generated; the open source xml file generator integrates the description file of the functional component parameters, the description file of the articulation mode parameters and the description file of the structural composition parameters to generate the description file of the robot body parameters.
And in combination with fig. 2, performing theoretical analysis on components and component contact characteristics affecting error analysis in the robot, establishing dynamic stiffness theoretical sub-models of the components and component contact characteristics by adopting a calculation modal analysis method, and establishing a complete machine dynamic stiffness theoretical model of the robot by adopting a modal comprehensive theory.
Referring to fig. 2, in the second step, the specific process of establishing the overall dynamic stiffness theoretical model of the robot through the modal comprehensive theory includes:
carrying out modal experiments on components and component contact characteristics affecting error analysis in the robot, establishing a dynamic stiffness experiment sub-model and a modal sub-model of the components and component contact characteristics through acquisition and processing of excitation and response data, identifying modal parameters and carrying out verification of the dynamic stiffness experiment sub-model;
correcting the dynamic stiffness theoretical sub-model of the corresponding component and the component contact characteristic through the dynamic stiffness experimental sub-model, and constructing the dynamic stiffness sub-model meeting the precision requirement;
and synthesizing the dynamic stiffness sub-model meeting the precision requirement into a complete machine dynamic stiffness theoretical model of the robot through a modal synthesis theory.
Thirdly, performing a modal experiment on the whole robot, establishing a dynamic stiffness experimental model and a modal model of the whole robot through acquisition and processing of excitation and response data, identifying modal parameters and verifying the dynamic stiffness experimental model of the whole robot.
And step four, removing minimum factors influencing error analysis according to theoretical analysis results, simplifying variables of the dynamic stiffness theoretical sub-model, correcting the whole dynamic stiffness theoretical model through the whole dynamic stiffness experimental model, and constructing the whole dynamic stiffness model meeting the precision requirement.
In the fourth step, the specific process of correcting the whole maneuvering stiffness theoretical model through the whole maneuvering stiffness experimental model is as follows:
step 1: inputting the technological parameters into a controller, executing a processing track by the controller, and acquiring experimental data through a dynamometer and an acceleration sensor;
step 2: performing Fourier transform on the acquired acceleration data to acquire vibration amplitude spectrum data, performing logarithmic operation on the amplitude spectrum data, and then constructing amplitude spectrum cepstrum data through inverse Fourier transform;
step 3: performing exponential window filtering operation on the amplitude spectrum cepstrum data constructed in the step (2), and then performing cepstrum operation on the filtered cepstrum data to construct vibration amplitude spectrum data under random excitation;
step 4: performing Fourier transform on the acquired acceleration data to construct vibration phase spectrum data;
step 5: carrying out inverse Fourier transform on the amplitude spectrum and the phase spectrum data constructed in the step 3 and the step 4, and constructing an acceleration time domain signal under random excitation in the processing process;
step 6: and 5, identifying modal parameters by using the time domain signal constructed in the step through a least square complex frequency domain method, obtaining a functional relation between the end deformation of the cutting robot and the changing cutting force, and further constructing the dynamic stiffness model of the whole cutting robot, which meets the precision requirement.
In summary, by adopting the dynamic stiffness modeling method of the cutting machining robot based on modal analysis, a high-precision dynamic stiffness model of the whole robot can be constructed so as to accurately describe the actual motion deformation process of each component of the robot.
The foregoing has outlined rather broadly the principles and embodiments of the present invention in order that the detailed description of the invention may be better understood. Based on the above-mentioned embodiments of the present invention, any improvements and modifications made by those skilled in the art without departing from the principles of the present invention should fall within the scope of the present invention.
Claims (8)
1. The dynamic stiffness modeling method of the cutting machining robot based on modal analysis is characterized by comprising the following steps of:
carrying out theoretical analysis on components and component contact characteristics affecting error analysis in the robot, establishing a dynamic stiffness theoretical sub-model of the component and component contact characteristics by adopting a calculation modal analysis method, and establishing a complete machine dynamic stiffness theoretical model of the robot by adopting a modal comprehensive theory;
meanwhile, carrying out a modal experiment on the whole robot, establishing a dynamic stiffness experimental model and a modal model of the whole robot through acquisition and processing of excitation and response data, identifying modal parameters and carrying out verification of the dynamic stiffness experimental model of the whole robot;
and correcting the whole dynamic stiffness theoretical model through the whole dynamic stiffness experimental model to construct the whole dynamic stiffness model meeting the precision requirement.
2. The method for modeling the dynamic stiffness of the cutting machining robot based on modal analysis according to claim 1, wherein before theoretical analysis is performed on components affecting error analysis and component contact characteristics in the robot, a model class library is required to be called according to a description file of robot body parameters;
a) The description file of the robot body parameters can be a normative file capable of completely describing the robot body parameters, and the generation process of the description file comprises the following steps:
a1 According to the structural parameters of the robot, the sensitivity of the dynamic characteristics of the robot is analyzed, the structural parameters comprise three types of functional components, joint connection modes and structural components, wherein the functional components comprise a driving unit, a connecting rod unit and a speed reducer unit, the joint connection modes comprise integrated connection and coupling connection, and the structural components comprise serial connection, parallel connection and serial-parallel connection;
a2 Formulating precision criteria and specifications of the parameter description according to the analysis result;
a3 Using a standardized file format as a carrier, and generating a standardized file capable of completely describing robot body parameters from an analysis result;
b) The model class library is designed by applying an object-oriented method, and the design process comprises the following steps:
b1 Establishing a robot component error analysis base class by means of a tool SQLserver, wherein the base class comprises an ID, an error analysis method and other attributes and is used for analyzing the reasons for generating component errors;
b2 Deriving a functional component class and an articulation mode class from the robot component error analysis base class, wherein,
the functional component class is analysis of the influence of rigidity of the component on errors, and derives two subclasses of rod class and speed reducer class;
the joint connection mode is analysis of the influence of the contact stiffness of the assembly, and derives two subclasses of integral connection and coupling connection;
b3 Packaging base class and derived subclasses, and calling the packaging information of the model class library by the description file of the robot body parameters when the dynamic stiffness theoretical model of the whole robot is established.
3. The modeling method for dynamic stiffness of a cutting machining robot based on modal analysis according to claim 2, wherein the sensitivity analysis of dynamic characteristics of the robot according to structural parameters of the robot comprises the following specific operations:
establishing a robot simulation model according to the robot structural parameters;
establishing a simulated dynamic stiffness model according to the robot simulation model;
performing sensitivity analysis on the structural parameters of the robot by taking the simulated dynamic stiffness model as an objective function;
the sensitivity of the influence of the change of the structural parameters of the robot on the dynamic characteristics of the robot control system is determined, the sensitivity of the structural parameters is weighed by a mechanical engineer through calculation, programming and analysis, and then the precision criteria and specifications of the parameter description are manually formulated.
4. A cutting machining robot dynamic stiffness modeling method based on modal analysis according to claim 3, wherein the structural parameters are divided into sensitive parameters and non-sensitive parameters according to the sensitivity analysis result of the simulated dynamic stiffness model;
for sensitive parameters, more accurate measurement is carried out by using an instrument with higher precision, and parameter calculation and description are carried out by adopting an algorithm with higher precision;
the measurement and description processes of the non-sensitive parameters can be simplified; the sensitivity analysis result of the simulation dynamic stiffness model can provide basis for power modification of the robot cutting system.
5. The modeling method of dynamic stiffness of a cutting robot based on modal analysis according to claim 2, wherein the standardized file format adopted as the carrier is an XML file;
according to the precision criteria and specifications of formulated parameter description, after sensitivity analysis is carried out on three parameters of the functional component, the joint connection mode and the structure composition, a description file of the parameters of the functional component, a description file of the parameters of the joint connection mode and a description file of the parameters of the structure composition are respectively generated;
the open source xml file generator integrates the description file of the functional component parameters, the description file of the articulation mode parameters and the description file of the structural composition parameters to generate the description file of the robot body parameters.
6. The modeling method for the dynamic stiffness of the cutting machining robot based on modal analysis according to claim 1, wherein the specific process of establishing a theoretical model of the dynamic stiffness of the whole machine of the robot through a modal comprehensive theory comprises the following steps:
carrying out modal experiments on components and component contact characteristics affecting error analysis in the robot, establishing a dynamic stiffness experiment sub-model and a modal sub-model of the components and component contact characteristics through acquisition and processing of excitation and response data, identifying modal parameters and carrying out verification of the dynamic stiffness experiment sub-model;
correcting the dynamic stiffness theoretical sub-model of the corresponding component and the component contact characteristic through the dynamic stiffness experimental sub-model, and constructing the dynamic stiffness sub-model meeting the precision requirement;
and synthesizing the dynamic stiffness sub-model meeting the precision requirement into a complete machine dynamic stiffness theoretical model of the robot through a modal synthesis theory.
7. The method for modeling the dynamic stiffness of the cutting machining robot based on modal analysis according to claim 6, wherein before the dynamic stiffness theoretical sub-model of the corresponding component and the component contact characteristic is corrected by the dynamic stiffness experimental sub-model, the minimum factors affecting error analysis are removed according to the theoretical analysis result, and the variables of the dynamic stiffness theoretical sub-model are simplified.
8. The modeling method of the dynamic stiffness of the cutting machining robot based on modal analysis according to claim 1, wherein the specific process of correcting the theoretical model of the whole dynamic stiffness through the experimental model of the whole dynamic stiffness is as follows:
step 1: inputting the technological parameters into a controller, executing a processing track by the controller, and acquiring experimental data through a dynamometer and an acceleration sensor;
step 2: performing Fourier transform on the acquired acceleration data to acquire vibration amplitude spectrum data, performing logarithmic operation on the amplitude spectrum data, and then constructing amplitude spectrum cepstrum data through inverse Fourier transform;
step 3: performing exponential window filtering operation on the amplitude spectrum cepstrum data constructed in the step (2), and then performing cepstrum operation on the filtered cepstrum data to construct vibration amplitude spectrum data under random excitation;
the method comprises the following steps: performing Fourier transform on the acquired acceleration data to construct vibration phase spectrum data;
step 5: carrying out inverse Fourier transform on the amplitude spectrum and the phase spectrum data constructed in the step 3 and the step 4, and constructing an acceleration time domain signal under random excitation in the processing process;
step 6: and 5, identifying modal parameters by using the time domain signal constructed in the step through a least square complex frequency domain method, obtaining a functional relation between the end deformation of the cutting robot and the changing cutting force, and further constructing the dynamic stiffness model of the whole cutting robot, which meets the precision requirement.
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Application publication date: 20200410 Assignee: Shandong Mencius ecological agriculture Limited by Share Ltd. Assignor: Qilu University of Technology Contract record no.: X2023980046812 Denomination of invention: A Modal Analysis Based Dynamic Stiffness Modeling Method for Cutting Robots Granted publication date: 20230526 License type: Common License Record date: 20231117 Application publication date: 20200410 Assignee: SHANDONG ZHENGFANG INTELLIGENT ROBOT INDUSTRY DEVELOPMENT Co.,Ltd. Assignor: Qilu University of Technology Contract record no.: X2023980046811 Denomination of invention: A Modal Analysis Based Dynamic Stiffness Modeling Method for Cutting Robots Granted publication date: 20230526 License type: Common License Record date: 20231117 |