CN114700954A - Six-degree-of-freedom industrial robot hole-making rigidity optimization method - Google Patents

Six-degree-of-freedom industrial robot hole-making rigidity optimization method Download PDF

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CN114700954A
CN114700954A CN202210516242.0A CN202210516242A CN114700954A CN 114700954 A CN114700954 A CN 114700954A CN 202210516242 A CN202210516242 A CN 202210516242A CN 114700954 A CN114700954 A CN 114700954A
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robot
reachable
rigidity
pose
poses
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CN114700954B (en
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姚宝国
李浩杰
葛雨勋
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China Jiliang University
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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
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • B25J11/005—Manipulators for mechanical processing tasks
    • 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
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention discloses a six-degree-of-freedom industrial robot hole-making rigidity optimization method, which comprises the following steps of: determining the pose to be optimized of the robot according to the target hole positions, and enabling the robot to rotate around the axis of a tool of the end effector to obtain a limited number of reachable poses
Figure DEST_PATH_IMAGE001
(i=1,2, …, n), corner limit criterion for calculating all achievable posespAnd a flexibility indexKCIAnd system stiffness coefficientKAccording to the weight coefficient
Figure 134325DEST_PATH_IMAGE002
、
Figure DEST_PATH_IMAGE003
、
Figure 150823DEST_PATH_IMAGE004
Rigidity performance optimization criterion for all poses is obtained by synthesizing the obtained indexesgSelecting the reachable pose corresponding to the optimal value as the pose after rigidity optimization
Figure DEST_PATH_IMAGE005
The method and the device realize optimization of multiple processing poses, can improve the drilling precision of the robot, enhance the drilling stability of the robot, and meet the application requirements of the six-freedom-degree industrial robot in a drilling task.

Description

Six-degree-of-freedom industrial robot hole-making rigidity optimization method
Technical Field
The invention relates to the technical field of rigidity optimization, in particular to a six-degree-of-freedom industrial robot hole-making rigidity optimization method.
Background
The requirements of the current manufacturing industry on production efficiency and cost are increasingly improved, and the six-degree-of-freedom industrial robot can process the same point position in an infinite number of different postures by virtue of the redundant degree of freedom. The flexibility and automation features peculiar to industrial robots make them widely used in the field of hole making. However, due to the structural characteristics of the six-degree-of-freedom industrial robot, the rigidity of the six-degree-of-freedom industrial robot is about 1/50 times that of a numerical control machine tool, vibration is easy to occur in the drilling process, so that the tool is seriously abraded, and the service life is shortened too fast. Meanwhile, the machining vibration causes the reduction of the hole-making precision, the reduction of the machining efficiency, even the occurrence of dangerous problems such as machining failure, edge breakage and the like, and the application prospect of the industrial robot in the hole-making field is severely limited. Therefore, mathematical analysis on the drilling rigidity of the six-degree-of-freedom industrial robot is an important premise for improving the machining precision of the six-degree-of-freedom industrial robot, and has important practical significance on the optimization of the drilling rigidity of the six-degree-of-freedom industrial robot.
Chinese patent CN 111702762A discloses an industrial robot operation attitude optimization method, which establishes an industrial robot stiffness model and realizes the attitude optimization of a processing track and a target point position by adopting fairing processing according to spatial characteristic points. Chinese patent CN 113894782A discloses a robot milling attitude optimization method and system based on rigidity orientation, which divides a stable processing space and a potential flutter space by calculating a main rigidity difference value of a tool nose, and determines a space boundary where flutter occurs by using a redundant angle to realize stable processing on a milling path.
Although the method realizes the enhancement of the processing stability on the processing track, the method does not leave a corner margin for the industrial robot from the safety point of view, does not consider the dexterity of the robot in the processing movement, and mainly focuses on the milling processing in the application field. Therefore, the processing stability of the industrial robot in the hole making field can not be improved in a targeted manner, and the hole making processing rigidity can not be optimized by taking the motion flexibility and the motion safety of the robot into consideration.
Disclosure of Invention
In view of the above, the invention provides a six-degree-of-freedom industrial robot hole-making rigidity optimization method, aiming at the technical problem that in the prior art, the hole-making rigidity optimization of an industrial robot cannot be realized by considering both the flexibility and the safety of the industrial robot.
The technical scheme of the invention is to provide a six-degree-of-freedom industrial robot hole-making rigidity optimization method which realizes hole-making rigidity optimization by considering both the flexibility and the safety of an industrial robot, and the method comprises the following specific steps:
the method comprises the following steps: determining to-be-optimized pose of robot according to target hole positions
Figure 307160DEST_PATH_IMAGE001
When the robot rotates around the axis direction of the end effector tool by the angle of rotation
Figure 787820DEST_PATH_IMAGE002
=0 °, the robot rotates around the axis of the end effector tool with 1 ° as a step length to obtain a candidate pose, determines whether the pose can be reached, and if so, records the pose as the reachable pose
Figure 283524DEST_PATH_IMAGE003
Repeating the step to obtain a limited number
Figure 875042DEST_PATH_IMAGE003
、
Figure 536705DEST_PATH_IMAGE004
、……、
Figure 188266DEST_PATH_IMAGE005
(n is less than or equal to 300) until
Figure 905687DEST_PATH_IMAGE002
（
Figure 300896DEST_PATH_IMAGE006
) The limit is reached or the number n of reachable poses reaches 300;
step two: setting the safety margin of the corner limit of the robot to be 10 percent, and calculating all reachable poses
Figure 115268DEST_PATH_IMAGE007
(iRobot joint corner limit criterion under =1,2, …, n)pThe criterion reaches a maximum value near the joint limit of the turning angle, which indicates that the turning angles of the robot are close to the limit, and the gradient of the turning angle far away from the joint limit of the turning angle is 0, which indicates that the turning angles of the robot are in a safe position;
the robot joint corner limit criterion in the second steppThe specific calculation method is as follows:
Figure 875414DEST_PATH_IMAGE008
wherein
Figure 142447DEST_PATH_IMAGE009
For robot joint corner, subscriptiIs shown asiSubscripts max and min of each joint respectively represent the maximum joint corner and the minimum joint corner after 10% corner allowance is reserved;
step three: calculating all reachable poses
Figure 983757DEST_PATH_IMAGE007
(i=1,2, …, n) robot dexterity indexKCI；
The specific calculation method of the robot dexterity index KCI in the third step is as follows:
Figure 652636DEST_PATH_IMAGE010
Figure 646000DEST_PATH_IMAGE011
wherein
Figure 338013DEST_PATH_IMAGE012
Is a weighting matrix;
Figure 340604DEST_PATH_IMAGE013
、
Figure 801672DEST_PATH_IMAGE014
respectively representing i and j order identity matrixes;
Figure 965937DEST_PATH_IMAGE015
、
Figure 145246DEST_PATH_IMAGE016
the root mean square of the linear velocity vector mode and the angular velocity vector mode at the tail end of the robot body are respectively.
Figure 685948DEST_PATH_IMAGE017
Normalizing the condition number of the Jacobian matrix;nthe number of joints of the robot;
step four: calculating all reachable poses
Figure 500058DEST_PATH_IMAGE007
(i=1,2, …, n) rigidity coefficient of industrial robot hole-making systemK；
The rigidity coefficient of the hole making system of the industrial robot in the fourth stepKThe specific calculation method is as follows:
according to the relation between the stress and deformation of the tail end of the robot drilling system and the rigidity matrix, partitioning the rigidity matrix of the tail end of the robot drilling system into blocks:
Figure 569646DEST_PATH_IMAGE018
whereinfThe force vector borne by the tail end of the robot is shown;mthe moment vector borne by the tail end of the robot is shown;
Figure 32988DEST_PATH_IMAGE019
、
Figure 315065DEST_PATH_IMAGE020
、
Figure 547463DEST_PATH_IMAGE021
、
Figure 319110DEST_PATH_IMAGE022
respectively providing a force-linear displacement rigidity matrix, a force-angular displacement rigidity matrix, a moment-linear displacement rigidity matrix and a moment-angular displacement rigidity matrix for the robot hole making system;dlinearly displacing the tail end of the robot;δand the terminal of the robot is deformed and angularly displaced. Because the force applied to the tail end is far larger than the moment applied to the tail end when the robot is used for drilling, the formula can be simplified as follows:
Figure 207431DEST_PATH_IMAGE023
if the robot end is subjected to force vectorfFor a unit vector, the above equation can be simplified as:
Figure 89937DEST_PATH_IMAGE024
from the above formula, it is obvious that the rigidity of the robot drilling system forms an ellipsoid in mathematical sense, which is called a rigidity ellipsoid. The rigidity ellipsoid describes the rigidity performance of the robot drilling system in a physical sense.
Figure 380104DEST_PATH_IMAGE025
The matrix has 3 mutually orthogonal eigenvectors, the corresponding direction is the main axis direction of the rigid ellipsoid, and the corresponding eigenvalue is the length of the main axis of the rigid ellipsoid. Rigidity coefficient of hole forming system of industrial robot by taking length of main shaft of rigidity ellipsoidK：
Figure 322652DEST_PATH_IMAGE026
WhereinK x 、K y 、K z Respectively X, Y, Z three-direction rigidity coefficients under a flange coordinate system of the industrial robot hole-making system,λ 2 、λ 1 、λ 3 respectively the lengths of the main axes of the rigid ellipsoids in the corresponding directions;
step five: according top、KCI、KCalculating all reachable poses
Figure 211453DEST_PATH_IMAGE027
(iStiffness performance optimization criterion of robot drilling system under the condition of =1,2, …, n)gAnd the rigidity performance optimization criterion under each reachable pose is analyzed and comparedgObtaining the optimum value thereofg maxCorresponding and reachable pose
Figure 163229DEST_PATH_IMAGE007
Pose optimized as stiffness
Figure 370219DEST_PATH_IMAGE028
。
Optionally, the rigidity performance optimization criterion of the industrial robot drilling system in each reachable pose is calculated as follows:
Figure 421352DEST_PATH_IMAGE029
wherein
Figure 346582DEST_PATH_IMAGE030
、
Figure 570890DEST_PATH_IMAGE031
、
Figure 304491DEST_PATH_IMAGE032
Respectively is joint corner criterion, robot dexterity index and industrial robot hole making system rigidity coefficient after the unitization is removed;
Figure 526525DEST_PATH_IMAGE033
、
Figure 906429DEST_PATH_IMAGE034
、
Figure 200007DEST_PATH_IMAGE035
the three functions are weight coefficients of the three functions and are considered to be equally important in the process of making holes by the robot.
Compared with the prior art, the invention has the following advantages: by adopting the optimization method, the optimal processing pose can be obtained from three aspects of robot motion flexibility, robot corner limit and robot system rigidity, the robot hole making precision is improved, and simultaneously, the robot has excellent kinematic performance and all corners are kept at safe positions, so that the defect of insufficient rigidity of the industrial robot is overcome, the hole making stability of the robot is enhanced, and the application requirement of the six-degree-of-freedom industrial robot in a hole making task is met.
Drawings
FIG. 1 is a diagram of the optimization effect of the method for optimizing the hole-making rigidity of the six-degree-of-freedom industrial robot;
FIG. 2 is a schematic diagram of the optimized front and rear pose rotation angles of the six-degree-of-freedom industrial robot hole-making rigidity optimization method;
FIG. 3 is a diagram illustrating a variation of a joint corner limit criterion according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating a variation of a joint corner limit criterion according to an embodiment of the present invention;
FIG. 5 is a graph of the change in stiffness coefficient in the X direction for a joint in accordance with an embodiment of the present invention;
FIG. 6 is a graph of the change in stiffness coefficient in the Y direction for a joint in accordance with one embodiment of the present invention;
FIG. 7 is a graph illustrating Z-direction stiffness coefficient changes for a joint in accordance with an embodiment of the present invention;
FIG. 8 is a graph of stiffness performance optimization criteria change for an embodiment of the present invention;
Detailed Description
The invention is further described with reference to the following figures and specific examples.
The invention is intended to cover alternatives, modifications, equivalents, and alternatives that may be included within the spirit and scope of the invention. In the following description of the preferred embodiments of the present invention, specific details are set forth in order to provide a thorough understanding of the present invention, and it will be apparent to those skilled in the art that the present invention may be practiced without these specific details. Moreover, the drawings of the present invention are not necessarily to scale, nor are they necessarily to scale, as may be shown and described herein.
As shown in fig. 1-2, the method for optimizing the hole-making rigidity of the six-degree-of-freedom industrial robot, which realizes the optimization of the hole-making rigidity by considering both the dexterity and the safety of the industrial robot, comprises the following specific steps:
the method comprises the following steps: determining to-be-optimized pose of robot according to target hole positions
Figure 381589DEST_PATH_IMAGE001
When the robot rotates around the axis direction of the end effector tool by the angle of rotation
Figure 774525DEST_PATH_IMAGE002
=0 °, the robot rotates around the axis of the end effector tool with 1 ° as a step length to obtain a candidate pose, determines whether the pose can be reached, and if so, records the pose as the reachable pose
Figure 408768DEST_PATH_IMAGE003
Repeating the step to obtain a limited number
Figure 912562DEST_PATH_IMAGE003
、
Figure 214230DEST_PATH_IMAGE004
、……、
Figure 840384DEST_PATH_IMAGE005
(n is less than or equal to 300) until
Figure 899607DEST_PATH_IMAGE002
（
Figure 269408DEST_PATH_IMAGE006
) The limit is reached or the number n of reachable poses reaches 300;
step two: setting the safety margin of the corner limit of the robot to be 10 percent, and calculating all reachable poses
Figure 67993DEST_PATH_IMAGE036
(iRobot joint corner limit criterion under =1,2, …, n)pThe criterion reaches a maximum value near the joint limit of the turning angle, which indicates that the turning angles of the robot are close to the limit, and the gradient of the turning angle far away from the joint limit of the turning angle is 0, which indicates that the turning angles of the robot are in a safe position;
the robot joint corner limit criterion in the second steppThe specific calculation method is as follows:
Figure 865048DEST_PATH_IMAGE008
wherein
Figure 473884DEST_PATH_IMAGE009
For robot joint corner, subscriptiIs shown asiSubscripts max and min of each joint respectively represent the maximum joint corner and the minimum joint corner after 10% corner allowance is reserved;
step three: calculating all reachable poses
Figure 585059DEST_PATH_IMAGE027
(i=1,2, …, n) robot dexterity indexKCI；
The dexterity index of the robot in the third stepKCIThe specific calculation method is as follows:
Figure 64582DEST_PATH_IMAGE010
Figure 501380DEST_PATH_IMAGE011
wherein
Figure 597512DEST_PATH_IMAGE012
Is a weighting matrix;
Figure 309116DEST_PATH_IMAGE013
、
Figure 111987DEST_PATH_IMAGE037
respectively representi、jAn order identity matrix;
Figure 890324DEST_PATH_IMAGE015
、
Figure 473753DEST_PATH_IMAGE016
the root mean square of the linear velocity vector mode and the angular velocity vector mode at the tail end of the robot body are respectively.
Figure 989048DEST_PATH_IMAGE017
Normalizing the condition number of the Jacobian matrix;nthe number of joints of the robot;
step four: calculating all reachable poses
Figure 646425DEST_PATH_IMAGE027
(i=1,2, …, n) rigidity coefficient of industrial robot hole-making systemK；
The rigidity coefficient of the hole making system of the industrial robot in the fourth stepKThe specific calculation method of (2) is as follows:
according to the relation between the stress and deformation of the tail end of the robot drilling system and the rigidity matrix, partitioning the rigidity matrix of the tail end of the robot drilling system into blocks:
Figure 956184DEST_PATH_IMAGE018
whereinfIs a force vector borne by the tail end of the robot;mthe moment vector borne by the tail end of the robot is shown;
Figure 964591DEST_PATH_IMAGE038
、
Figure 17998DEST_PATH_IMAGE020
、
Figure 296925DEST_PATH_IMAGE039
、
Figure 246427DEST_PATH_IMAGE040
respectively providing a force-linear displacement rigidity matrix, a force-angular displacement rigidity matrix, a moment-linear displacement rigidity matrix and a moment-angular displacement rigidity matrix for the robot hole making system;dlinearly displacing the tail end of the robot;δand the terminal of the robot is deformed and angularly displaced. Because the force borne by the tail end is far greater than the moment borne by the tail end when the robot is used for drilling, the formula can be simplified as follows:
Figure 70026DEST_PATH_IMAGE023
if the robot end is subjected to force vectorfFor a unit vector, the above equation can be simplified as:
Figure 661545DEST_PATH_IMAGE024
from the above formula, it is obvious that the rigidity of the robot drilling system forms an ellipsoid in mathematical sense, which is called a rigidity ellipsoid. The rigidity ellipsoid describes the rigidity performance of the robot drilling system in a physical sense.
Figure 293514DEST_PATH_IMAGE025
The matrix has 3 mutually orthogonal eigenvectors, the corresponding direction is the main axis direction of the rigid ellipsoid, and the corresponding eigenvalue is the length of the main axis of the rigid ellipsoid. Rigidity coefficient of hole forming system of industrial robot by taking length of main shaft of rigidity ellipsoidK：
Figure 210655DEST_PATH_IMAGE026
WhereinK x 、K y 、K z Respectively X, Y, Z three-direction rigidity coefficients under a flange coordinate system of the industrial robot hole-making system,λ x 、λ y 、λ z respectively corresponding to the direction stiffnessThe length of the major axis of the ellipsoid;
step five: according top、KCI、KCalculating all reachable poses
Figure 928075DEST_PATH_IMAGE007
(iStiffness performance optimization criterion of robot drilling system under the condition of =1,2, …, n)gAnd analyzing and comparing the stiffness performance optimization criterion under each reachable posegSelecting the optimum valueg maxCorresponding and reachable pose
Figure 792126DEST_PATH_IMAGE007
Pose optimized as stiffness
Figure 75340DEST_PATH_IMAGE028
(ii) a Rigidity performance optimization criterion of industrial robot hole making system under each reachable posegThe calculation is as follows:
Figure 599600DEST_PATH_IMAGE029
wherein
Figure 866633DEST_PATH_IMAGE030
、
Figure 3216DEST_PATH_IMAGE031
、
Figure 937674DEST_PATH_IMAGE032
Respectively is joint corner criterion, robot dexterity index and industrial robot hole making system rigidity coefficient after the unitization is removed;
Figure 931038DEST_PATH_IMAGE033
、
Figure 623051DEST_PATH_IMAGE034
、
Figure 360062DEST_PATH_IMAGE035
are weight coefficients of three functions, inThe three are considered as equally important in the hole making process of the robot;
the invention is further illustrated below by means of a specific example.
To be optimized in pose
Figure 821131DEST_PATH_IMAGE041
=[-5.89°,21.93°,-7.47°,-0.30°,77.69°,85.85°]TFor example, all reachable poses are obtained according to step one
Figure 250975DEST_PATH_IMAGE003
、
Figure 492601DEST_PATH_IMAGE004
、……、
Figure 206872DEST_PATH_IMAGE005
(n is less than or equal to 300), calculating joint corner limit criteria under all reachable poses according to the second step, and obtaining results shown in figure 3, wherein the experimental results are clearly expressed, the angles of all reachable poses are taken as horizontal coordinates, and the reachable angle range is
Figure 850343DEST_PATH_IMAGE042
The abscissa is used hereinafter unless otherwise specified.
Calculating the dexterity index of the robot under all reachable poses according to the third stepKCIThe results are shown in FIG. 4. In the figure, P is the initial pose corresponding point, and 0.45 is setKCIA threshold above which the robot dexterity meets the optimization requirements.
Calculating the rigidity coefficient of the industrial robot hole making system under all reachable poses according to the step fourKThe results are shown in FIGS. 5 to 7. In the figure, Pa represents the pose to be optimized.
Taking according to the fifth stepη p =η KCI =η K =1 calculation of rigidity performance optimization criterion of robot hole making system under all reachable posesgThe result graph is shown in FIG. 8. In the figure, Pa represents the pose to be optimized, and Pb represents the pose after optimization.
Carry out 5 optimization effect verification experiments of group to 3mm aluminum plate, adopt diameter 6mm drill bit, feed speed 1mm/s carries out the system hole experiment with different main shaft rotational speeds respectively, adopts the inside micrometer to measure the biggest error in aperture, and the experimental result is shown as table 1.
Table 1: maximum error table of aperture before and after stiffness optimization of hole making system
Figure 326455DEST_PATH_IMAGE043
As can be seen from the table, the maximum aperture errors after the rigidity of the hole making system is optimized are smaller than those before the rigidity is optimized, the maximum aperture errors are not more than 0.05mm, the optimization method is effective, and the specific embodiment is finished.
The foregoing is illustrative of the preferred embodiments of the present invention only and is not to be construed as limiting the claims. The present invention is not limited to the above embodiments, and the specific structure thereof is allowed to vary. In general, all changes which come within the scope of the invention as defined by the independent claims are intended to be embraced therein.

Claims (2)

1. A six-degree-of-freedom industrial robot hole-making rigidity optimization method is characterized by comprising the following steps:
the method comprises the following steps: determining to-be-optimized pose of robot by target hole positions
Figure 472775DEST_PATH_IMAGE001
When the robot rotates around the axis direction of the end effector tool by the angle
Figure 244422DEST_PATH_IMAGE002
=0 °, the robot rotates around the axis of the end effector tool with 1 ° as a step length to obtain a candidate pose, determines whether the pose can be reached, and if so, records the pose as the reachable pose
Figure 631279DEST_PATH_IMAGE003
Repeating the step to obtain a limited number
Figure 513784DEST_PATH_IMAGE003
、
Figure 866268DEST_PATH_IMAGE004
、……、
Figure 215341DEST_PATH_IMAGE005
(n is less than or equal to 300) until
Figure 918855DEST_PATH_IMAGE002
（
Figure 808313DEST_PATH_IMAGE006
) The limit is reached or the number n of reachable poses reaches 300;
step two: setting the safety margin of the corner limit of the robot to be 10 percent, and calculating all reachable poses
Figure 749724DEST_PATH_IMAGE007
(iRobot joint corner limit criterion under =1,2, …, n)p；
Step three: calculating all reachable poses
Figure 332015DEST_PATH_IMAGE007
(i=1,2, …, n) robot dexterity indexKCI；
Step four: calculating all reachable poses
Figure 460508DEST_PATH_IMAGE007
(i=1,2, …, n) rigidity coefficient of industrial robot hole-making systemK；
Step five: according top、KCI、KCalculating all reachable poses
Figure 684816DEST_PATH_IMAGE007
(iStiffness performance optimization criterion of robot drilling system under the condition of =1,2, …, n)gComparing each reachable bit by comparative analysisAttitude stiffness performance optimization criteriongObtaining the optimum value thereofg maxCorresponding and reachable pose
Figure 185461DEST_PATH_IMAGE007
Pose after optimization as stiffness
Figure 469812DEST_PATH_IMAGE008
。
2. The six-degree-of-freedom industrial robot hole-making rigidity optimization method according to claim 1, characterized in that in the fifth step, the rigidity performance optimization criterion of the industrial robot hole-making system is calculated as follows:
Figure 882339DEST_PATH_IMAGE009
wherein
Figure 848021DEST_PATH_IMAGE010
、
Figure 29603DEST_PATH_IMAGE011
、
Figure 156959DEST_PATH_IMAGE012
Respectively is joint corner criterion, robot dexterity index and industrial robot hole making system rigidity coefficient after the unitization is removed;
Figure 56782DEST_PATH_IMAGE013
、
Figure 826155DEST_PATH_IMAGE014
、
Figure 127824DEST_PATH_IMAGE015
is composed of
Figure 488398DEST_PATH_IMAGE010
、
Figure 311735DEST_PATH_IMAGE011
、
Figure 681536DEST_PATH_IMAGE012
The weight coefficients of the three are equally important in the process of making holes by the robot.
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