CN114474070A - Building robot error analysis method and verification method based on rigid-flexible coupling - Google Patents
Building robot error analysis method and verification method based on rigid-flexible coupling Download PDFInfo
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- CN114474070A CN114474070A CN202210268015.0A CN202210268015A CN114474070A CN 114474070 A CN114474070 A CN 114474070A CN 202210268015 A CN202210268015 A CN 202210268015A CN 114474070 A CN114474070 A CN 114474070A
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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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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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The utility model provides a rigid-flexible coupling-based building robot error analysis method and a rigid-flexible coupling-based building robot error verification method, wherein the rigid-flexible coupling-based building robot error analysis method comprises the following steps: step one, establishing a rigid kinematics model based on MD-H; step two, establishing a flexible joint model based on the influence of load and the self weight of the rod piece; step three, establishing a flexible connecting rod model based on the influence of load and the self weight of the rod piece; and step four, solving the total end section position error under the comprehensive action of the flexible joint and the flexible connecting rod through positive kinematics, and compensating the tail end error of the mechanical arm. The utility model also provides a rigid-flexible coupling-based building robot error verification method, wherein the robot rod and the joint are subjected to flexible processing in the kinematics simulation software, different loads are added, the position error of the tail end of the robot is observed, and the theoretical analysis result is verified. The utility model solves the error compensation problem caused by self flexible deformation caused by load and self weight of the rod piece in the assembly operation process of the building robot under the working condition of large space, low speed and heavy load, simultaneously verifies the correctness of the error, and improves the precision and the efficiency of the rigid-flexible coupling error compensation model under the condition of certain cost.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a construction robot error analysis method and a construction robot error verification method based on rigid-flexible coupling.
Background
The building assembly operation object is large in size and large in load, so that the robot is required to have larger working space and bearing capacity, and large-space low-speed heavy load is a typical characteristic of the building robot operation, so that the self structure of the building robot can be flexibly deformed when the building robot works. With the development of the modern building industry, the requirement on precision is higher and higher, so that the flexibility of a large mechanical system is concerned gradually. In recent years, when many scholars analyze construction robot errors, all parts are equivalent by rigid body models without considering the influence of flexible deformation of the structure of a robot body, so that a simple rigid body model is established. However, in many engineering problems, the simple rigid body model is very different from the actual situation, which causes a large error, thereby affecting the construction precision.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the utility model and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the utility model of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the utility model.
Aiming at the defects, the utility model provides a construction robot error analysis method and a construction robot error verification method based on rigid-flexible coupling.
The technical scheme adopted by the utility model for solving the technical problems is as follows: a building robot error analysis method based on rigid-flexible coupling comprises the following steps: step one, establishing a rigid kinematic model based on MD-H; step two, establishing a flexible joint model based on the influence of load and the self weight of the rod piece; step three, establishing a flexible connecting rod model based on the influence of load and the self weight of the rod piece; and step four, solving the total end section position error under the comprehensive action of the flexible joint and the flexible connecting rod through positive kinematics, and compensating the tail end error of the mechanical arm.
Further, the first step comprises: the utility model relates to a self-made spraying robot in the building field, which is provided with 6 independent rotary joints, the axis of each rotary joint is defined as a Z axis, the common perpendicular line of two adjacent axes is a coordinate system X axis, the intersection point of the common perpendicular line and the axis of each rotary joint is used as the origin of the coordinate system, then the Y axis direction is determined by the right-hand rule of a Cartesian coordinate system, 6 coordinate systems are respectively established according to the above rules, and rigid kinematic modeling is completed.
Further, the second step comprises: the joint in the rigid kinematic model is flexible, all joints are described as torsion springs, a flexible joint model is established, and the joint angle deflection angle caused by the flexible joint can be expressed as: Δ θ ═ C · T. Considering the load and the self weight of the rod piece, the deflection angle of each joint is sequentially calculated from the tail end of the robot, and the deflection angle is converted into a matrix form.
Further, the third step comprises: based on the flexible line equation:
and (4) the connecting rod in the rigid kinematic model is subjected to flexibilization to establish a flexible connecting rod model. The influence of the flexible deformation of the connecting rod on the position of the tail end is decomposed into horizontal and vertical directions, and the horizontal and vertical directions are converted into a matrix form.
Further, the fourth step includes: and solving the total joint error through the flexible joint model, solving the final position vector under the consideration of the flexible joint error through positive kinematics, and making a difference with the theoretical position vector of the rigid kinematics model to obtain the final position error of the flexible joint item. Similarly, the difference between the tail section position vector under the error of the flexible connecting rod and the theoretical position vector of the rigid kinematic model is considered, and the tail section position error is the flexible connecting rod term. And finally, compensating the error of the rigid model according to the total tail section position error.
The utility model also provides a building robot error verification method based on rigid-flexible coupling, which comprises the following steps: establishing a three-dimensional model of the robot by using three-dimensional modeling software, and simplifying complex special-shaped parts and repeated small parts in the model; the model is led into a kinematics simulation software to carry out kinematics modeling and simulation on the robot, material attributes are added to each part of the robot, and a simulation result is reasonably analyzed; carrying out flexible modeling on important parts such as a key arm body and the like influencing the positioning precision of the tail end in the mechanical arm by using finite element software, and replacing the established finite element model with a rigid part established by an original kinematic model; adding a torsion spring at a rotary joint in the kinematics simulation software, and setting a proper joint stiffness C to replace an original rigid kinematic pair; and adding different loads, observing the position error of the tail end of the robot, and verifying the theoretical analysis result.
The utility model has the beneficial effects that a rigid-flexible coupling-based building robot error analysis method and a verification method are provided, a rigid-flexible coupling model of the building robot considering the flexibility of a connecting rod and the flexibility of a joint is established, the error compensation problem caused by self flexible deformation caused by load and self weight of a rod piece in the assembling operation process of the building robot under the working condition of large space, low speed and heavy load is solved, a verification method for verifying the correctness of the rigid-flexible coupling model is also provided, the correctness of the rigid-flexible coupling error is verified, and a scientific and efficient solution is provided for establishing a rigid-flexible coupling dynamics simulation model in the actual engineering. Under the condition of certain cost, the precision and the efficiency of the rigid-flexible coupling error compensation model are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a flow cycle chart of a construction robot error analysis method based on rigid-flexible coupling;
FIG. 2 is a schematic structural diagram of the self-made spraying robot of the present invention;
FIG. 3 is a schematic diagram of a rigid kinematic model of the self-made spraying robot of the present invention;
FIG. 4 is a schematic diagram of a flexible kinematic model of the home-made spraying robot of the present invention;
fig. 5 is a flowchart of a construction robot error verification method based on rigid-flexible coupling.
Reference numbers in the figures: 1. a connecting rod 1; 2. a joint 1; 3. a connecting rod 2; 4. a joint 2; 5. a connecting rod 3; 6. a joint 3; 7. a connecting rod 4; 8. a joint 4; 9. a connecting rod 5; 10. a joint 5; 11. a connecting rod 6; 12. and a joint 6.
Detailed Description
Referring to fig. 1, a rigid-flexible coupling-based building robot error analysis method includes the following steps: step one, establishing a rigid kinematic model based on MD-H; step two, establishing a flexible joint model based on the influence of load and the self weight of the rod piece; step three, establishing a flexible connecting rod model based on the influence of load and the self weight of the rod piece; and step four, solving the total end section position error under the comprehensive action of the flexible joint and the flexible connecting rod through positive kinematics, and compensating the tail end error of the mechanical arm.
Referring to fig. 2 and 3, the first step includes: the utility model relates to a self-made spraying robot in the building field, which is provided with 6 independent rotary joints, the axis of each rotary joint is defined as a Z axis, the common perpendicular line of two adjacent axes is a coordinate system X axis, the intersection point of the common perpendicular line and the axis of each rotary joint is used as the origin of the coordinate system, then the Y axis direction is determined by the right-hand rule of a Cartesian coordinate system, 6 coordinate systems are respectively established according to the above rules, and rigid kinematic modeling is completed.
Referring to fig. 1, 2, 3, and 4, the second step includes: the joint in the rigid kinematic model is flexible, all joints are described as torsion springs, a flexible joint model is established, and the joint angle deflection angle caused by the flexible joint can be expressed as: Δ θ ═ C · T. First, the joint angle error due to the self weight of the rod is calculated, and since the self weight of the rod generated by gravity is vertically downward, only the flexible deformation of the joints 2, 3 and 5 due to gravity is considered, so the joint angle deflection angles of the joints 2, 3 and 5 can be expressed as:
by Q5a、Q3a、Q3b、Q3c、Q2a、Q2b、Q2c、Q2d、Q2e、Q2fJoint stiffness C, mass m, center of gravity distance L in the formulacAnd dcLength of the rod L and offset distance d, and convert it to a matrix form, then:
wherein T isjIs a connecting rod flexibility joint angle matrix, and Q is a connecting rod flexibility coefficient matrix. Similarly, the joint angle error Δ θ l due to tip loading is:
referring to fig. 1, 2, 3, and 4, step three includes: based on the flexible line equation:
and (4) the connecting rod in the rigid kinematic model is subjected to flexibilization to establish a flexible connecting rod model. Since the deflection deformation of the rods 3 and 4 has an absolute influence on the end section error, only the deflection deformation of the connecting rods 3 and 4 is considered in the model. The influence of the deflection deformation of the connecting rods 3 and 4 on the position of the tail section is decomposed into horizontal and vertical directions, and the following equation set is established:
the constant value is expressed by K coefficient, and the equation system is simplified into a matrix form:
wherein T isiIs a connecting rod flexibility joint angle matrix, and K is a connecting rod flexibility coefficient matrix. Similarly, the joint angle error Δ w due to tip loadinglComprises the following steps:
referring to fig. 1, 2, 3, and 4, the fourth step includes: total joint angle error:
considering the end position vector under the joint angle error:
the position error of the tail section of the joint flexibility term:
ΔPj＝Pj-P
total deflection error:
position error of the end section of the connecting rod flexibility item:
total end position error under the combined action of joint flexibility and connecting rod flexibility:
ΔP＝ΔPj+ΔPl
and after the total end position error of the mechanical arm is obtained, compensating the tail end error of the mechanical arm in a world coordinate system.
Referring to fig. 5, the utility model further provides a rigid-flexible coupling-based building robot error analysis method and a building robot error verification method, which include the following steps: establishing a three-dimensional model of the robot by using three-dimensional modeling software, and simplifying complex special-shaped parts and repeated small parts in the model; the model is led into a kinematics simulation software to carry out kinematics modeling and simulation on the robot, material attributes are added to each part of the robot, and a simulation result is reasonably analyzed; carrying out flexible modeling on important parts such as a key arm body and the like influencing the positioning precision of the tail end in the mechanical arm by using finite element software, and replacing the established finite element model with a rigid part established by an original kinematic model; adding a torsion spring at a rotary joint in the kinematics simulation software, and setting a proper joint stiffness C to replace an original rigid kinematic pair; and adding different loads, observing the position error of the tail end of the robot, and verifying the theoretical analysis result.
The above description is only exemplary of the utility model and should not be taken as limiting the scope of the utility model, so that the utility model is intended to cover all modifications and equivalents of the embodiments described herein. In addition, the technical features, the technical schemes and the technical schemes can be freely combined and used.
Claims (9)
1. A building robot error analysis method based on rigid-flexible coupling is characterized by comprising the following steps: the method comprises the following steps: step one, establishing a rigid kinematic model based on MD-H; step two, establishing a flexible joint model based on the influence of load and the self weight of the rod piece; step three, establishing a flexible connecting rod model based on the influence of load and the self weight of the rod piece; and step four, solving the total end section position error under the comprehensive action of the flexible joint and the flexible connecting rod through positive kinematics, and compensating the tail end error of the mechanical arm.
2. The construction robot error analysis method based on rigid-flexible coupling according to claim 1, characterized in that: the first step comprises the following steps: the utility model relates to a self-made mobile spraying robot in the field of construction, which is provided with 6 independent rotary joints, wherein the axis of each rotary joint is defined as a Z axis, the common perpendicular line of two adjacent axes is a coordinate system X axis, the intersection point of the common perpendicular line and the axis of each rotary joint is used as the origin of the coordinate system, then the Y axis direction is determined by the right-hand rule of a Cartesian coordinate system, and 6 coordinate systems are respectively established according to the above rules to complete kinematic modeling.
3. The construction robot error analysis method based on rigid-flexible coupling according to claim 1, characterized in that: in the second step, the joints in the rigid kinematic model are flexible, all the joints are described as torsion springs, a flexible joint model is established, and the joint angle deflection angle caused by the flexible joints can be expressed as: the deflection angle of each joint is sequentially calculated from the robot end in consideration of the load and the weight of the rod, and is converted into a matrix form.
4. The construction robot error analysis method based on rigid-flexible coupling according to claim 1, characterized in that: in step three, based on the flexible line equation:
the connecting rod in the rigid kinematic model is flexible, a flexible connecting rod model is built, the influence of the flexible deformation of the connecting rod on the position of the tail end is decomposed into a horizontal direction and a vertical direction, and the horizontal direction and the vertical direction are converted into a matrix form.
5. The construction robot error analysis method based on rigid-flexible coupling according to claim 1, characterized in that: in the fourth step, the total joint error is solved through a flexible joint model, the tail-segment position vector under the consideration of the flexible joint error is solved through positive kinematics, and the difference is made between the tail-segment position vector and the theoretical position vector of the rigid kinematics model, namely the tail-segment position error of the flexible joint item; similarly, the difference between the tail section position vector under the error of the flexible connecting rod and the theoretical position vector of the rigid kinematic model is considered, and the tail section position error is the flexible connecting rod term.
6. The construction robot error analysis method based on rigid-flexible coupling according to claim 5, characterized in that: and finally, compensating the error of the rigid model according to the total tail section position error.
7. A rigid-flexible coupling based construction robot error verification method for verifying the rigid-flexible coupling based construction robot error analysis method of any one of claims 1 to 6, characterized in that: the robot three-dimensional model is established by utilizing three-dimensional modeling software, complex special-shaped parts and repeated small-sized parts in the model are simplified, the model is introduced into kinematics simulation software to carry out kinematics modeling and simulation on the robot, material attributes are added to each part of the robot, and a simulation result is reasonably analyzed.
8. The construction robot error verification method based on rigid-flexible coupling according to claim 7, characterized in that: carrying out flexible modeling on important parts such as a key arm body and the like influencing the positioning precision of the tail end in the mechanical arm by using finite element software, and replacing the established finite element model with a rigid part established by an original kinematic model; a torsion spring is added at a rotary joint in the kinematic simulation software, and proper joint stiffness C is set to replace an original rigid kinematic pair.
9. The construction robot error verification method based on rigid-flexible coupling according to claim 7, characterized in that: and adding different loads, observing the position error of the tail end of the robot, and verifying the theoretical analysis result.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115401699A (en) * | 2022-10-31 | 2022-11-29 | 广东隆崎机器人有限公司 | Industrial robot precision reliability analysis method, device, equipment and storage medium |
| CN115502968A (en) * | 2022-08-05 | 2022-12-23 | 河北工业大学 | Mechanical arm tail end position error compensation method based on calibration restoration rigid-flexible coupling model |
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