CN115816461B - Mechanical arm load centroid range calculation and load curve graph drawing method - Google Patents
Mechanical arm load centroid range calculation and load curve graph drawing method Download PDFInfo
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Abstract
The invention relates to a method for calculating a load centroid range of a mechanical arm and drawing a load curve graph, and belongs to the technical field of robots. The method comprises the steps of regarding a load as a mass point with mass, calculating a load centroid abscissa critical value by using a maximum allowable torque and an inertia moment of a load of a joint at the tail end of a mechanical arm, calculating the torque of each joint of the mechanical arm through a mechanical arm dynamics equation, recording a load centroid ordinate when the torque of each joint is equal to the maximum bearable torque, and determining a load centroid ordinate critical value under the current load mass; changing the load mass, repeating the steps, calculating the critical value of the transverse and longitudinal coordinates of the load mass center under different load masses, and drawing a mechanical arm load curve graph. The invention comprehensively considers the torque bearing capacity of the whole mechanical arm, can draw an accurate load curve graph, meets the requirement that a mechanical arm manufacturer needs to draw the load curve graph, and is suitable for multi-joint robots or mechanical arms, in particular to lightweight robots.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method for calculating a load centroid range of a mechanical arm and drawing a load curve graph.
Background
The wide application of industrial robots is of great importance for improving labor productivity, reducing labor costs and improving labor environment. In recent years, robotics have evolved rapidly and are becoming increasingly visible in many industries such as the automotive, steamship, machining, rubber and plastics industries, the food industry, and the woodworking industry.
However, with the increasing application forms of industrial robots, the safety of use thereof is also important. The load weight of the tail end of the robot is limited by the maximum load allowed to be borne by the whole robot, under a certain load, the mass center range of the load is required to be within the allowed range, and if the mass center range exceeds the allowed range, an overload phenomenon occurs. When the tail end of the robot is overloaded, the robot is easy to damage after long-time operation, the economic benefit is influenced, and even casualties can be caused when the condition is serious.
The calculation of the load centroid range of the domestic robot and the drawing of the load curve graph are always important and difficult, the drawing standard of the load curve graph is not definitely specified at present, the calculation methods of different robot manufacturers and the definition of the load curve graph are different, and the method has certain difficulty in selecting the type of the robot application in different fields.
At present, a drawing method for calculating the load centroid range of a mechanical arm and drawing a load curve graph in China is mainly provided on the basis of a certain assumption by analyzing the load curve graph provided in the specification of a foreign mechanical arm product, and is inaccurate and not strict.
Disclosure of Invention
The existing mechanical arm load centroid range calculation and load curve graph drawing method has the problems of guessing, inaccuracy and imprecision, and the problems that only partial weak joints are considered to calculate the load centroid range, but the method is not suitable for a light robot and the like.
The invention discloses a method for calculating the load centroid range of a mechanical arm and drawing a load curve graph, which comprises the following steps:
step 1: determining the current load mass and the current load centroid coordinates acting on the tail end of the mechanical arm; the load centroid coordinates are located in a space rectangular coordinate system established at the tail end of the mechanical arm;
step 2: calculating a load centroid abscissa critical value according to the maximum allowable torque and the moment of inertia of the load of the tail end joint of the mechanical arm;
step 3: regarding the load as a mass point with a mass, wherein the mass point is positioned at the position of a mass center of the load, and calculating the moment of inertia and the inertia product of the load relative to the three axes of the space rectangular coordinate system according to a moment of inertia of the mass point around the axis and a calculation formula of the moment of inertia product around the axis;
step 4: establishing a mechanical arm dynamics equation by adopting a Newton-Euler method, and calculating the torque of each joint of the current mechanical arm;
step 5: judging whether the torque of the current joint is equal to the maximum value of the torque which can be born by the joint, if so, recording the ordinate of the current load mass center, if not, changing the position of the load mass center, and turning to the calculation in the step 3;
step 6: according to the recorded ordinate of the load centroid corresponding to all joints of the mechanical arm, selecting the minimum value as the critical value of the ordinate of the load centroid;
step 7: and (3) changing the load mass, repeatedly executing the steps 1-6, calculating the transverse coordinate critical value and the longitudinal coordinate critical value of the load mass center under different load masses, and then drawing a mechanical arm load curve chart, wherein the transverse coordinate critical value and the longitudinal coordinate critical value of the load mass center under different load masses are recorded in the load curve chart.
Compared with the prior art, the method has the advantages that: according to the method, from the principle of mechanical arm dynamics calculation, calculation is performed according to the allowable torque range of each joint, a load curve graph is drawn by using a calculation result, and the allowable range calculation of centroid coordinates of different loads acting on the tail end of a robot or a mechanical arm is realized. According to the method, the torque bearing capacity of the whole mechanical arm is comprehensively considered, the centroid range is calculated, the load curve graph is drawn, and the requirement that a mechanical arm manufacturer needs to draw the load curve graph is met. The method is suitable for multi-joint robots or mechanical arms, especially lightweight robots. The test proves that the load curve graph drawn by the method accords with the load curve graph given by foreign product specification, and the practicability and the accuracy of the method are proved.
Drawings
FIG. 1 is an overall flowchart of a method for calculating a load centroid range and drawing a load graph according to an embodiment of the present invention;
FIG. 2 is a flow chart of calculating moment of inertia of a load relative to an end coordinate system according to an embodiment of the present invention;
fig. 3 is a flowchart of calculating the torque of each joint of the mechanical arm by using the mechanical arm dynamics equation in the embodiment of the invention.
Detailed Description
The following describes the aspects of the invention in detail, with reference to the drawings and examples, it being noted that the examples are only some, but not all, of the examples of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a method for calculating the load centroid range and drawing a load curve graph of a mechanical arm, which is used for calculating the centroid coordinate allowable ranges of different loads at the tail end of the robot or the mechanical arm. For a load with a constant mass, the mass center coordinate range of the load assembled in a space rectangular coordinate system at the tail end of the robot or the mechanical arm cannot exceed the calculated mass center coordinate allowable range, and if the mass center coordinate range exceeds the corresponding mass center coordinate allowable range, the overload phenomenon of the robot or the mechanical arm occurs, so that potential safety hazards exist. According to the invention, from the principle of mechanical arm dynamics calculation, the torque bearing capacity of the whole mechanical arm is considered, theoretical calculation is performed according to the allowable torque range of each joint, and a load curve graph is drawn by using a calculation result, so that the method is particularly suitable for light-weight robots and can meet the requirement of mechanical arm manufacturers on drawing the load curve graph.
The embodiment of the invention is applied to a mechanical arm as an example, and illustrates a method for calculating the load centroid range and drawing a load curve chart of the mechanical arm, and the whole flow is shown in figure 1. The tail end of the mechanical arm is connected to the joint farthest from the base, when the method is used for carrying out different mass loads, the torque condition of each joint of the mechanical arm can be calculated, and the mass center coordinate range under the load is obtained by comparing the torque condition with the maximum value of each joint. The steps of the present invention will be described below.
Step S1: and determining the load mass and the load centroid coordinates acting on the tail end of the mechanical arm.
The load mass should be within the range of load mass allowed by the robot tip, and when the load profile is drawn, it is necessary to cover the range of load mass allowed by the tip as uniformly and comprehensively as possible. For example, the allowable load mass range of the robot is 0-5 kg, and the load mass of the tail end of the robot cannot exceed 5kg, and in the embodiment of the invention, the allowable load mass range of the robot can be fully covered by selecting load masses of 1kg, 2kg, 3kg, 4kg, 5kg and the like during testing.
In order to represent the barycenter coordinates of the load, a space rectangular coordinate system is established by taking the rotation center of the flange surface at the tail end of the mechanical arm as an origin, wherein the z axis of the space rectangular coordinate system is perpendicular to the flange surface at the tail end, and the x axis and the y axis of the space rectangular coordinate system are positioned in the flange surface at the tail end and are mutually perpendicular. Let the coordinates of the load centroid in this space rectangular coordinate system be (x, y, z). When the method is used, the user can input the load mass and the barycenter coordinates in a self-defined mode.
Step S2: and calculating the load centroid abscissa critical value according to the load allowable maximum torque and the moment of inertia of the tail end joint of the mechanical arm.
Obtaining allowable load maximum load torque N of end joint t Motor power P t Moment of inertia I t And reduction ratio i t Calculating the maximum rotation inertia moment J of the allowable load of the tail joint t The following are provided:
J t ＝I t i t l t (2)
wherein l t Is the inertia ratio.
Calculating load centroid abscissa critical value x t The method comprises the following steps:
wherein m is t Representing the current load mass.
Step S3: and calculating the moment of inertia of the load relative to the terminal coordinate system according to the load mass and the barycenter coordinate.
Assuming that the load is a mass point with mass, the mass point is positioned at the coordinate position of the mass center of the load, and the moment of inertia parameter calculation is performed according to the moment of inertia of the mass point around the axis and the calculation formula of the moment of inertia product around the axis, as follows:
I ii ＝m t ·r i 2 (4)
I ij ＝m t ·l i ·l j (5)
wherein I is ii For moment of inertia, I ij Is the product of inertia, r i Is the vertical distance of the particle to the axis, l i 、l j The coordinate values of the centroid in the i axis and the coordinate values of the centroid in the j axis are respectively represented, and subscripts i and j represent different coordinate axes.
As shown in fig. 2, the calculation flow of the moment of inertia parameter of the end load of the mechanical arm around the end space rectangular coordinate system is as follows:
step S31: receiving load mass acting on the tail end of the mechanical arm, and recording the coordinates of the mass center of the load;
step S32: setting the load as a mass point with mass, wherein the mass point is positioned at the position of the mass center coordinate, and calculating the moment of inertia I according to a mass point around-axis moment of inertia formula shown in the formula (4) xx 、I yy 、I zz ；
Step S33: calculating the inertia product I according to the mass-point rotation inertia product formula shown in the formula (5) xy 、I yz 、I xz Etc.
Step S4: and establishing a mechanical arm dynamics equation by adopting a Newton-Euler method, and calculating the torque of each joint of the mechanical arm.
As shown in fig. 3, the steps of establishing a mechanical arm dynamics equation by using the Newton-Euler method in the embodiment of the present invention include:
step S41: inputting improved D-H parameters of the mechanical arm;
step S42: acquiring mass, mass center coordinates and inertial tensor data of each joint connecting rod of the mechanical arm;
step S43: extrapolation is performed according to a Newton-Euler equation, and angular speed, angular acceleration, speed, acceleration and the like from the base to the end connecting rod are deduced by using the relation of k and k+1; k is the number of the connecting rod;
newton equation:
euler equation:
wherein F is the resultant force, m is the mass of the stressed object,is the first derivative of the object speed, N is torque, C i is moment of inertia, ω is the angular velocity of the object, ">Is the first derivative of angular velocity.
Angular velocity and velocity information of each joint link of the robot arm and the like are calculated according to formulas (6) and (7).
Step S44: calculating the inertia force and the inertia moment of each joint connecting rod by using the extrapolated parameters;
step S45: from the end joint of the mechanical arm, the force and moment applied from the end joint to each joint of the base are obtained by performing inward pushing.
Step S5: and judging whether the calculated torque value of each joint is equal to the maximum allowable torque value of the corresponding joint.
When the tail end load mass of the robot is fixed and the load mass center coordinates are taken at different positions, the torque born by each joint is changed, the maximum value of the torque of each joint exists, and when the maximum value of the torque born by each joint is equal to the maximum value of the allowable torque of the corresponding joint, the tail end load mass center ordinate is at a critical position. According to this method, the load position is adjusted and the load centroid ordinate threshold value for each joint is determined.
If not, the new centroid position of the load needs to be received, the step is executed in the step S3, the moment of inertia parameter calculation and the torque calculation of each joint are performed again, and the torque judgment in the step S5 is performed again.
Step S6: and taking the load centroid ordinate minimum value calculated corresponding to all joints as a load centroid ordinate critical value.
When the load centroid range is calculated, each joint is ensured to be in a corresponding allowable torque range, otherwise, the joints are overloaded. Therefore, the minimum value of the ordinate obtained for each joint may be taken as the maximum value of the ordinate of the centroid.
It should be noted that, when the centroid range under a certain load mass is calculated, the mass is kept unchanged, and the coordinate value of the centroid is continuously adjusted and iterated until the ordinate critical value of the centroid is obtained. When another load quality calculation is needed, the load quality is modified again, and then iterative calculation is carried out.
In order to simplify the calculation, the torque bearing capacity of each joint of the mechanical arm can be evaluated before the calculation, and a plurality of joints which are weakest are selected for iterative calculation so as to improve the calculation efficiency.
Step S7: and drawing a mechanical arm load curve graph according to the obtained transverse and longitudinal coordinate critical values of the load centroid.
The horizontal coordinate of the load curve graph of the robot and the mechanical arm is a straight line perpendicular to the x axis, the arc under each load mass is an arc with the distance from the joint position determining the vertical coordinate critical value to the end flange surface as the radius, the intersection point of the arc and the y axis is the calculated centroid vertical coordinate critical value, and the arc and the straight line perpendicular to the x axis intersect at one point, so that the load curve is formed.
The invention provides a load centroid range calculation and load curve graph drawing method applied to a multi-joint robot or a mechanical arm, which can comprehensively consider the bearing capacity of each joint of the robot or the mechanical arm under different loads, give out the most reasonable load curve graph by integrating the conditions of each joint, and has certain reference value for drawing the load curve graph of a robot manufacturer and selecting the model of a robot user.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (5)
1. A method for calculating a load centroid range and drawing a load curve graph of a mechanical arm aims at a lightweight robot and is characterized by comprising the following steps:
step 1: determining the current load mass and the current load centroid coordinates acting on the tail end of the mechanical arm; the load centroid coordinates are located in a space rectangular coordinate system established at the tail end of the mechanical arm;
step 2: calculating a load centroid abscissa critical value according to the maximum allowable torque and the moment of inertia of the load of the tail end joint of the mechanical arm;
calculating load centroid abscissa critical value x t The method comprises the following steps:
wherein N is t Allowing a load maximum torque for the end joint; m is m t Representing a current load mass; g is gravity acceleration; j (J) t The maximum rotational moment of inertia for the allowable load of the end joint; j (J) t The calculation is as follows:
J t ＝I t i t l t inertia ratio of
Wherein I is t For the moment of inertia of the end joint, i t For the end joint reduction ratio, P t The power of the motor for the tail end joint;
step 3: regarding the load as a mass point with a mass, wherein the mass point is positioned at the position of a mass center of the load, and calculating the moment of inertia and the inertia product of the load relative to the three axes of the space rectangular coordinate system according to a moment of inertia of the mass point around the axis and a calculation formula of the moment of inertia product around the axis;
step 4: establishing a mechanical arm dynamics equation by adopting a Newton-Euler method, and calculating the torque of each joint of the current mechanical arm;
step 5: judging whether the torque of the current joint is equal to the maximum value of the torque which can be born by the joint, if so, recording the ordinate of the current load mass center, if not, changing the position of the load mass center, and turning to the calculation in the step 3;
step 6: according to the recorded ordinate of the load centroid corresponding to all joints of the mechanical arm, selecting the minimum value as the critical value of the ordinate of the load centroid;
step 7: and (3) changing the load mass, repeatedly executing the steps 1-6, calculating the transverse coordinate critical value and the longitudinal coordinate critical value of the load mass center under different load masses, and then drawing a mechanical arm load curve chart, wherein the transverse coordinate critical value and the longitudinal coordinate critical value of the load mass center under different load masses are recorded in the load curve chart.
2. The method according to claim 1, wherein in the step 1, a space rectangular coordinate system is established with a rotation center of a flange surface at the end of the mechanical arm as an origin, a Z axis of the space rectangular coordinate system is perpendicular to the flange surface at the end, and an X axis and a Y axis of the space rectangular coordinate system are located in the flange surface at the end, so as to obtain coordinates of a load centroid in the space rectangular coordinate system.
3. The method according to claim 1, wherein in the step 3, the current load mass is set to be m t The moment of inertia and the product of inertia are calculated as follows:
moment of inertia I ii ＝m t ·r i 2 ；
Product of inertia I ij ＝m t ·l i ·l j ；
The subscripts i and j represent different coordinate axes, and the coordinate axes are x, y and z axes of the space rectangular coordinate system; r is (r) i For the distance of the particle from the i-axis, l i 、l j Coordinate values of the centroid in the i-axis and the j-axis are respectively indicated.
4. The method according to claim 1, wherein said step 4 comprises:
(1) Acquiring improved D-H parameters of the mechanical arm, and obtaining mass, mass center coordinates and inertia tensors of all joint connecting rods;
(2) Deducing the angular speed, the angular acceleration, the speed and the acceleration of each joint connecting rod from the base to the tail end according to a Newton-Euler equation by using the connection relation of the joint connecting rods;
(3) Calculating the inertia force and the inertia moment of each joint connecting rod;
(4) From the end joint of the mechanical arm, the force and moment applied from the end joint to each joint of the base are obtained by performing internal pushing.
5. The method according to claim 1, wherein in the step 7, the abscissa of the load graph of the mechanical arm is a straight line perpendicular to the x-axis of the space rectangular coordinate system, the arc under each load is an arc with a radius of a distance from the joint determining the ordinate critical value of the load centroid to the end flange surface, the intersection point of the arc and the y-axis of the space rectangular coordinate system is a calculated ordinate critical value of the load centroid, and the arc intersects with the straight line perpendicular to the x-axis to form the load curve.
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