CN115026418B - Truss dobby robot movement branched chain decomposition and topology structure representation method - Google Patents
Truss dobby robot movement branched chain decomposition and topology structure representation method Download PDFInfo
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- CN115026418B CN115026418B CN202210830676.8A CN202210830676A CN115026418B CN 115026418 B CN115026418 B CN 115026418B CN 202210830676 A CN202210830676 A CN 202210830676A CN 115026418 B CN115026418 B CN 115026418B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
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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
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
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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
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- 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 relates to a truss dobby robot movement branched chain decomposition and topology structure representation method, which comprises the following steps: 1) Taking the intersection points of a plurality of mechanical arms and the truss as a secondary base; 2) Starting from the secondary base, respectively carrying out topological structure representation of branched chains on all the first type mechanical arms; 3) Selecting one of the mechanical arms in the second class, combining the mechanical arm with the movable pair of the truss to form a single branched chain, and starting from the base to represent the topological structure of the branched chain; 4) Starting from the sub-base in the second type of mechanical arms, respectively carrying out branched topology structure representation on all other mechanical arms except the mechanical arm selected in the step 3); 5) Each branched chain is given a different serial number, so that the whole topological structure representation is formed. Compared with the prior art, the invention can effectively deconstruct the integrated movable truss dobby robot, ensures that the robot has forward and backward kinematics analysis and solution, and has the advantages of strong applicability, good applicability and the like.
Description
Technical Field
The invention relates to the field of structural analysis of dobby robots, in particular to a method for decomposing a moving branched chain of a truss dobby robot and representing a topological structure.
Background
The commonly used stand-alone industrial robots generally have two main functions, namely "movement" and "manipulation", the structure of which generally depends on the working environment of the robot, and the end effector is a tool connected to the end of the robot, which interacts with the environment. In general, mobile robots can respectively take on the tasks of moving on land, in space and at sea, the operating robots (mechanical arms) are responsible for different types of work according to the functions of their end effectors, and in recent years, more and more tasks adopt "moving & operating" robot systems.
Most of the current mainstream industrial robots are six-degree-of-freedom rotary joint robots, also called mechanical arms, and such mechanical arms can only adapt to specific working environments, and depending on provided special equipment and tool fixtures, the working space is limited and difficult to meet the use requirements sometimes due to the fact that a base is fixed, and along with the complexity of industrial requirements, a single mechanical arm is limited by the performance of the single mechanical arm and difficult to complete complex operation tasks.
The advantages of the multi-robot system and the 'moving and operating' robot system are combined, and the large intelligent equipment integrating the moving truss, the multi-mechanical arm and the multifunctional into a whole has the following characteristic advantages:
(1) The flexibility is good: from the perspective of the robot body, the multi-robot system can comprise robots with different functions and independent from each other, and the adaptability of the whole system can be improved by virtue of the combination of the robots.
(2) Distribution: in terms of the spatial distribution of the end effectors, the multi-robot system is distributed in space, i.e. a plurality of robots can work at different positions in space, which is beneficial to the completion of complex work tasks.
(3) The efficiency is high: from the perspective of the desired job task, when a complex job task can be broken up into several interacting sub-tasks, the multi-robot system can process these sub-tasks simultaneously, with less time to complete such tasks.
The structural analysis essence of the robot is to reveal the inherent association of geometry and algebra, provide theoretical basis for mechanics, establish a robot kinematic model and solve the model, and the existing kinematic analysis method for analyzing a 6-degree-of-freedom industrial mechanical arm, a high-degree-of-freedom redundant robot, a robot integrated by a plurality of simple low-degree-of-freedom (less than 6-degree-of-freedom) mechanisms or a multi-robot formed by mutually independent 6-degree-of-freedom industrial mechanical arms cannot be directly used for analyzing the kinematic problem of an integrated movable truss multi-arm robot.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a method for decomposing and representing a topological structure of a moving branched chain of a truss-dobby robot.
The aim of the invention can be achieved by the following technical scheme:
a truss dobby robot movement branched chain decomposition and topology structure representation method comprises the following steps:
1) Taking the intersection points of a plurality of mechanical arms and the truss as a secondary base;
2) Starting from the secondary base, respectively carrying out topological structure representation of branched chains on all the first type mechanical arms;
3) Selecting one of the mechanical arms in the second class, combining the mechanical arm with the movable pair of the truss to form a single branched chain, and starting from the base to represent the topological structure of the branched chain;
4) Starting from the sub-base in the second type of mechanical arms, respectively carrying out branched topology structure representation on all other mechanical arms except the mechanical arm selected in the step 3);
5) According to the execution tasks of all the ends of the integrated movable truss dobby robot, different serial numbers are given to each branched chain, and an integrated topological structure representation is formed.
In the step 2), the first mechanical arm is specifically a mechanical arm with a degree of freedom greater than that of the first mechanical arm
Wherein->
The degree of freedom for the i 'th movable joint, m' is the maximum value of the number of movable joints.
In the step 3), the second type of mechanical arm specifically has a degree of freedom equal to or lower than that of the first type of mechanical arm
Wherein (1)>
The degree of freedom for the i 'th movable joint, m' is the maximum value of the number of movable joints.
The maximum value m' of the movable joint number is less than or equal to 3.
The integrated movable truss dobby robot comprises a dobby double-beam laser welding robot.
The multi-arm double-beam laser welding robot consists of a 3-degree-of-freedom movable truss and 3 mechanical arms, wherein the left mechanical arm and the right mechanical arm are all 6-degree-of-freedom articulated mechanical arms, the left mechanical arm and the right mechanical arm are used as first-class mechanical arms, and the middle mechanical arm is a 3-degree-of-freedom articulated mechanical arm and is used as a second-class mechanical arm.
The topology structure of the branched chain where the left mechanical arm is positioned is expressed as 1-SOC { R 21 ⊥R 22 ‖R 23 ⊥R 24 ⊥R 25 ⊥R 26 (wherein R is 21 、R 22 、R 23 、R 24 、R 25 、R 26 Respectively represent revolute pairs of branched chains where the left mechanical arm is located, SOC represents a single open chain (Single Open Chain), T represents a mutually perpendicular relationship, and II represents a mutually parallel relationship.
The topology structure of the branched chain where the right mechanical arm is positioned is expressed as 1-SOC { R 31 ⊥R 32 ‖R 33 ⊥R 34 ⊥R 35 ⊥R 36 (wherein R is 31 、R 32 、R 33 、R 34 、R 35 、R 36 Respectively represent the revolute pair of the branched chain where the right mechanical arm is positioned.
The topology structure of the branched chain where the middle mechanical arm is positioned is expressed as 1-SOC { P } 11 ⊥P 12 ⊥P 13 ⊥R 11 ⊥R 12 ⊥R 13 (wherein R is 11 、R 12 、R 13 Revolute pairs respectively representing branches where intermediate mechanical arms are located, P 11 、P 12 、P 13 Respectively represent the moving pairs of the multi-arm double-beam laser welding robot.
The decoupled multi-arm double-beam laser welding robot topology is expressed as:
here, SM denotes a Serial Mechanism (Serial Mechanism).
Compared with the prior art, the invention has the following advantages:
1. the applicability is strong: aiming at the problem that the existing kinematic method can not directly solve the kinematic problem of a robot integrating a plurality of articulated mechanical arms and a movable truss, the invention provides a kinematic chain modularization decomposition method based on topology analysis, which fundamentally deconstructs the multi-axis kinematic chain of the integrated movable truss dobby robot with high degree of freedom and strong coupling, and ensures that the integrated movable truss dobby robot has forward and backward kinematic analysis and solution.
2. The applicability is good: according to the whole constitution of the dobby, the dobby is subjected to decoupling modular division, each motion branched chain obtained after division has motion certainty, and finally all motion branched chain modules are orderly combined, so that the method is clear and simple, and is convenient for further analyzing the kinematics problem of the complex dobby.
Drawings
FIG. 1 is a schematic diagram of a kinematic chain branching of an integrated mobile truss dobby robot.
Fig. 2 is a flow chart of the method of the present invention.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples.
The integrated movable truss dobby robot is a truss type mechanism which has large operation range, high degree of freedom and strong integral coupling and can realize complex space operation, and is large space operation equipment integrating the characteristics of a plurality of articulated mechanical arms and a large truss.
In the present invention, the integrated mobile truss-dobby robot may include robot arms having a degree of freedom of not more than 6, and there are at least 1 robot arm having a degree of freedom equal to or lower than
Wherein (1)>
The degree of freedom of the ith movable joint is that m 'is the maximum value of the number of movable joints, and m' is less than or equal to 3.
As shown in fig. 2, the invention provides a method for decomposing and representing a topological structure of a moving branched chain of a mobile truss type dobby robot, which comprises the following steps:
1) Acquiring a sub-base formed by the intersection points of a plurality of mechanical arms and a truss;
2) Starting from the sub-base, the degree of freedom is successively greater than
Respectively carrying out topological structure representation of branched chains on the mechanical arms;
3) Freedom of choice equal to or lower than
The mechanical arm 1 of (2) and the movable pair of the truss are combined into 1 single open chain, and the topological structure of the branched chain is represented by the base;
4) From the sub-base, respectively carrying out the topological structure representation of the branched chains of all other mechanical arms;
5) According to different tasks executed by all ends of the integrated movable truss dobby robot, different serial numbers are given to each branched chain, and an integrated topological structure representation is formed.
Examples:
the invention is illustrated by a multi-arm dual beam laser welding robot example.
The multi-arm double-beam laser welding robot consists of a 3-degree-of-freedom movable truss and 3 mechanical arms, wherein the left mechanical arm and the right mechanical arm are 6-degree-of-freedom articulated mechanical arms, and the middle mechanical arm is a 3-degree-of-freedom articulated mechanical arm. The robot maintains the open-chain tandem relationship between the 3 kinematic chains as shown in fig. 1. The robot integrally belongs to a Serial Mechanism (Serial Mechanism), A is taken as a base of the multi-arm robot, the junction point of 3 mechanical arms and a truss is found to be a sub-base B, and the left mechanical arm and the right mechanical arm are more than the degree of freedom
The intermediate arm is the branched chain with the degree of freedom equal to +.>
Branched chains of (a). According to the motion branched chain modularization method, after redundant elements are removed, the decoupled multi-arm double-beam laser welding robot topological structure is expressed as: />
The topological structure of the multi-arm double-beam laser welding robot describes the topological characteristic relation between kinematic pairs in each branched chain and the relation between the branched chains, and according to the robot topological structure representation obtained after the modularization of the kinematic branched chains, a D-H parameter table of each single branched chain is established by a robot D-H method, so that the solution of kinematic analysis and solution is carried out, and the motion control of the multi-arm double-beam laser welding robot is realized.
The above description of the embodiments of the invention has been presented in connection with the drawings but these descriptions should not be construed as limiting the scope of the invention, which is defined by the appended claims, and any changes based on the claims are intended to be covered by the invention.
Claims (8)
1. The truss dobby robot motion branched chain decomposition and topology structure representation method is characterized by comprising the following steps:
1) Taking the intersection points of a plurality of mechanical arms and the truss as a secondary base;
2) Starting from the secondary base, respectively carrying out topological structure representation of branched chains on all the first type mechanical arms;
3) Selecting one of the mechanical arms in the second class, combining the mechanical arm with the movable pair of the truss to form a single branched chain, and starting from the base to represent the topological structure of the branched chain;
4) Starting from the sub-base in the second type of mechanical arms, respectively carrying out branched topology structure representation on all other mechanical arms except the mechanical arm selected in the step 3);
5) According to the execution tasks of all the ends of the integrated movable truss dobby robot, each branched chain is given different serial numbers, and an integrated topological structure representation is formed;
the first mechanical arm is specifically with the degree of freedom larger than that of
Wherein->
The degree of freedom of the ith movable joint is the maximum value of the number of movable joints;
the second type of mechanical arm is specifically a mechanical arm with the degree of freedom equal to or lower than
Wherein (1)>
The degree of freedom for the i 'th movable joint, m' is the maximum value of the number of movable joints.
2. The method for decomposing and representing the topological structure of the moving branches of the truss-dobby robot according to claim 1, wherein the maximum value m' of the number of the movable joints is less than or equal to 3.
3. The method for decomposing and representing the topological structure of the moving branched chain of the truss-dobby robot according to claim 2, wherein the integrated moving truss-dobby robot comprises a dobby double-beam laser welding robot.
4. The method for decomposing and representing the topological structure of the moving branched chain of the truss-dobby robot according to claim 3, wherein the multi-arm double-beam laser welding robot consists of a 3-degree-of-freedom moving truss and 3 mechanical arms, wherein the left mechanical arm and the right mechanical arm are all 6-degree-of-freedom articulated mechanical arms serving as first mechanical arms and the middle mechanical arm is a 3-degree-of-freedom articulated mechanical arm serving as second mechanical arms.
5. The method for decomposing and representing the topology of a moving branch of a truss-dobby robot as recited in claim 4, wherein the topology of the branch in which the left arm is located is represented as 1-SOC{R 21 ⊥R 22 ‖R 23 ⊥R 24 ⊥R 25 ⊥R 26 (wherein R is 21 、R 22 、R 23 、R 24 、R 25 、R 26 Respectively represent revolute pairs of branched chains where the left mechanical arm is positioned, SOC represents a single open chain, T represents a mutually perpendicular relationship, and II represents a mutually parallel relationship.
6. The method for decomposing and representing the topology of a moving branch of a truss-dobby robot as recited in claim 5, wherein the topology of the branch where the right arm is located is represented as 1-SOC { R } 31 ⊥R 32 ‖R 33 ⊥R 34 ⊥R 35 ⊥R 36 (wherein R is 31 、R 32 、R 33 、R 34 、R 35 、R 36 Respectively represent the revolute pair of the branched chain where the right mechanical arm is positioned.
7. The method for decomposing and representing a topology of a moving branch of a truss-dobby robot as recited in claim 6, wherein the topology of the branch in which the intermediate arm is located is represented as 1-SOC { P } 11 ⊥P 12 ⊥P 13 ⊥R 11 ⊥R 12 ⊥R 13 (wherein R is 11 、R 12 、R 13 Revolute pairs respectively representing branches where intermediate mechanical arms are located, P 11 、P 12 、P 13 Respectively represent the moving pairs of the multi-arm double-beam laser welding robot.
8. The truss-dobby robot motion branch decomposition and topology representation method of claim 7, wherein the decoupled dobby twin beam laser welding robot topology is represented as:
1-SOC{P 11 ⊥P 12 ⊥P 13 ⊥R 11 ⊥R 12 ⊥R 13 }⊕1-SOC{R 21 ⊥R 22 ‖R 23 ⊥R 24 ⊥R 25 ⊥R 26 }⊕1-SOC{R 31 ⊥R 32 ‖R 33 ⊥R 34 ⊥R 35 ⊥R 36 }SM
here, SM denotes a tandem mechanism.
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