CN117415856B - High-precision detection method for output force of robot joint linear hydraulic driving mechanism - Google Patents
High-precision detection method for output force of robot joint linear hydraulic driving mechanism Download PDFInfo
- Publication number
- CN117415856B CN117415856B CN202311311031.4A CN202311311031A CN117415856B CN 117415856 B CN117415856 B CN 117415856B CN 202311311031 A CN202311311031 A CN 202311311031A CN 117415856 B CN117415856 B CN 117415856B
- Authority
- CN
- China
- Prior art keywords
- hydraulic cylinder
- piston rod
- force
- hydraulic
- driving mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 13
- 230000005484 gravity Effects 0.000 claims abstract description 17
- 238000013016 damping Methods 0.000 claims abstract description 13
- 238000004364 calculation method Methods 0.000 claims description 27
- 238000006073 displacement reaction Methods 0.000 claims description 25
- 230000001133 acceleration Effects 0.000 claims description 24
- 238000000034 method Methods 0.000 claims description 17
- 238000009499 grossing Methods 0.000 claims description 11
- 238000005259 measurement Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000001914 filtration Methods 0.000 description 3
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a high-precision detection method for output force of a robot joint linear hydraulic driving mechanism, which belongs to the technical field of robots and comprises the following steps: s1, calculating friction force and damping force between a piston and a cylinder barrel of a hydraulic cylinder; s2, calculating an inertia force generated by a piston rod of the hydraulic cylinder; s3, calculating the component of the gravity of the hydraulic cylinder barrel and the piston rod of the hydraulic cylinder acting on the force sensor; s4, measuring and reading a force sensor arranged at the rear end of the hydraulic cylinder barrel; s5, solving the actual output force of the hydraulic cylinder. The high-precision detection method for the output force of the robot joint linear hydraulic driving mechanism can realize the high-precision detection of the output force of the linear hydraulic driving mechanism.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a high-precision detection method for output force of a linear hydraulic driving mechanism of a robot joint.
Background
Because the linear hydraulic driving mechanism has the advantages of high power-weight ratio, compact structure and the like, joints of systems such as a heavy-load bionic robot, an operation mechanical arm and the like mostly adopt the linear hydraulic driving mechanism as a power executing unit. The linear hydraulic driving mechanism of the robot generally comprises a hydraulic cylinder, a hydraulic valve, a connecting piece of the hydraulic cylinder and a robot body, a measuring sensor and the like. The hydraulic valve is used for controlling the extension or retraction movement of the piston rod of the hydraulic cylinder, so as to control the movement of the robot joint.
In robot control, it is necessary to perform a kinematic and dynamic calculation using information such as angular displacement and driving torque of each joint. Generally, the angular displacement of the robot joint can be calculated through the displacement of the linear hydraulic driving mechanism according to the geometric relationship and the structural size of the robot joint, and the driving moment of the robot joint can be calculated through the output force of the linear hydraulic driving mechanism. For displacement measurement of the linear hydraulic driving mechanism, an internal or external displacement sensor is generally arranged on the hydraulic cylinder, and the related implementation means are mature.
However, the prior art has the following disadvantages:
(1) And respectively installing pressure sensors in two cavities of the hydraulic cylinder, respectively measuring the oil pressure of the two cavities of the hydraulic cylinder, further calculating the stress of the piston according to the area of the piston of the hydraulic cylinder, and taking the result as the output force of the linear hydraulic driving mechanism. The disadvantage of this method is that there is a large fluctuation in the pressure of the two chambers of the hydraulic cylinder, and in addition the method ignores the friction between the cylinder piston and cylinder barrel. The calculated output results fluctuate greatly and are not accurate enough.
(2) The force sensor is arranged at the piston rod end of the hydraulic cylinder, the measurement is direct, the result is accurate and reliable, but the problem is that the force sensor is arranged on the piston rod of the hydraulic cylinder, and when the robot moves, the piston rod of the hydraulic cylinder needs to reciprocate to extend or retract, so that a signal line on the force sensor also moves along with the piston rod, and the structural design of the robot is difficult.
Disclosure of Invention
The invention aims to provide a high-precision detection method for the output force of a robot joint linear hydraulic driving mechanism, which can realize the high-precision detection of the output force of the linear hydraulic driving mechanism by measuring and resolving the component of the gravity of the linear hydraulic driving mechanism on a sensor, estimating the friction force and damping force between a piston and a cylinder barrel, calculating the inertia force of a piston rod of a hydraulic cylinder and finally obtaining the accurate stress of the piston rod of the hydraulic cylinder.
In order to achieve the above purpose, the invention provides a high-precision detection method for the output force of a robot joint linear hydraulic driving mechanism, which comprises the following steps:
s1, calculating friction force and damping force between a piston and a cylinder barrel of a hydraulic cylinder;
s2, calculating an inertia force generated by a piston rod of the hydraulic cylinder;
s3, calculating the component of the gravity of the hydraulic cylinder barrel and the piston rod of the hydraulic cylinder acting on the force sensor;
S4, measuring and reading a force sensor arranged at the rear end of the hydraulic cylinder barrel;
S5, solving the actual output force of the hydraulic cylinder through the formula (1);
Fl＝Fs-Ff-Fa-Fg (1)
Wherein F l is the actual output force of the hydraulic cylinder; f s is a numerical value measured by a force sensor arranged at the rear end of the hydraulic cylinder barrel; f f is the friction force and damping force between the piston and the cylinder barrel of the hydraulic cylinder; f a is the inertial force generated by the hydraulic cylinder moving part; and F g is a component of the gravity of the hydraulic cylinder barrel and the hydraulic cylinder piston rod acting on the force sensor.
Preferably, in step S1, a friction force and a damping force between a piston and a cylinder of the hydraulic cylinder are calculated, specifically: the linear motion mechanism calibration device is designed, the linear motion mechanism calibration device is horizontally placed, the components of the gravity action of the hydraulic cylinder barrel and the hydraulic cylinder piston rod on the rear end force sensor of the hydraulic cylinder barrel are guaranteed to be zero, the hydraulic cylinder piston rod is controlled to perform uniform motion, at the moment, both F a and F g are zero, and the formula (1) is simplified to:
Fl＝Fs-Ff' (2)
In the formula (2), the actual output force F l of the linear hydraulic driving mechanism is measured by a calibration force sensor arranged on a piston rod of the hydraulic cylinder, and F s is measured by a force sensor arranged at the rear end of the hydraulic cylinder; f f' is the friction force and damping force between the hydraulic cylinder piston and the cylinder barrel before the smoothing treatment;
the functional relationship of F f' and the hydraulic cylinder piston rod speed v is as follows:
Ff'＝f(v) (3)
By adopting a Lagrange interpolation method, selecting force sensor values F j of a hydraulic cylinder piston rod at n different speeds as known points, detecting the size of F f ', namely, the function value at the position of the hydraulic cylinder piston rod speed v 0,v1…,vn-1 is F 0',F1',……Fn-1 ', and constructing a polynomial function fitting F f ' and the hydraulic cylinder piston rod speed v:
where j= {0,1, … …, n-1} is the sequence number of the known data point; As a lagrangian basis function, B j＝{i|i≠j,i∈Dn, dn= {0,1, … …, n-1};
Then, performing smoothing on the hydraulic cylinder piston rod speed v by adopting a differential calculation method to obtain a smoothed hydraulic cylinder piston rod speed v ', and substituting the smoothed hydraulic cylinder piston rod speed v ' into a formula (4) to obtain a final polynomial function of F f and the smoothed hydraulic cylinder piston rod speed v ':
Preferably, in step S2, an inertial force is generated by the hydraulic cylinder piston rod during the acceleration and deceleration motion and acts on the force sensor at the rear end of the hydraulic cylinder, and for a certain determined linear hydraulic actuating mechanism, the mass of the hydraulic cylinder piston rod is fixed, and only the acceleration of the hydraulic cylinder piston rod is measured and calculated, and then the inertial force F a 'of the hydraulic cylinder piston rod is obtained by newton' S second law:
Fa'＝ma' (6)
Where m is the mass of the cylinder rod and a' is the acceleration of the cylinder rod obtained at this point in time, which is known.
Preferably, the calculation of the acceleration of the piston rod of the hydraulic cylinder is obtained by carrying out differential calculation on data detected by a displacement sensor twice, wherein the first differential calculation is to carry out differential calculation on displacement to obtain speed, and the second differential calculation is to carry out differential calculation on the speed to obtain the acceleration; and then carrying out smoothing treatment on the acceleration a' of the hydraulic cylinder piston rod by a differential calculation method to obtain the smoothed acceleration a of the hydraulic cylinder piston rod, and carrying the smoothed acceleration a of the hydraulic cylinder piston rod into a formula (6) to obtain the inertial force F a of the hydraulic cylinder piston rod:
Fa＝ma (7)。
Preferably, the displacement sensor is arranged inside the piston rod of the hydraulic cylinder, and the displacement data of the object at different time points can be recorded after the displacement sensor is started.
Preferably, in step S3, in the robot joint, the linear hydraulic driving mechanism and the robot body form a triangle, in the triangle, two side lengths L 1 and L 2 connected with the linear hydraulic driving mechanism are fixed, and the length of the side length L 3 where the linear hydraulic driving mechanism is located is the sum of the initial length of the linear hydraulic driving mechanism and the displacement of the piston rod of the hydraulic cylinder;
According to cosine theorem and inverse trigonometric function, calculating the included angle A between the axis of the linear hydraulic driving mechanism and the vertical direction, wherein the calculation formula is as follows:
wherein L 2 is the side length corresponding to the included angle A;
the components of the gravity of the hydraulic cylinder barrel and the hydraulic cylinder piston rod acting on the force sensor are calculated as follows:
Fg＝G×cos(A) (9)
Wherein G is the self gravity of the hydraulic cylinder barrel and the hydraulic cylinder piston rod.
Preferably, the linear motion mechanism calibration device comprises a first connecting piece, a force sensor is arranged on one side of the first connecting piece, a hydraulic cylinder is arranged on the other side of the force sensor, a hydraulic valve is arranged on the upper side of the hydraulic cylinder, a hydraulic cylinder piston rod is arranged on the other side of the hydraulic cylinder, a calibration force sensor is sleeved on the hydraulic cylinder piston rod, and a second connecting piece is arranged at one end, far away from the hydraulic cylinder, of the calibration force sensor
Therefore, the high-precision detection method for the output force of the robot joint linear hydraulic driving mechanism is adopted, the force sensor is arranged at the rear end of the linear hydraulic driving mechanism shell instead of the hydraulic cylinder piston rod, the cable of the sensor does not need to stretch and retract greatly along with the movement of the actuating mechanism, the optimization of the structural design of the robot is facilitated, and the output force of the actuating mechanism can be accurately obtained by adopting the method provided by the invention.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
FIG. 1 is a diagram of a linear hydraulic drive mechanism output force measurement mode of the present invention;
FIG. 2 is a schematic view of the internal structure of the linear hydraulic drive mechanism of the present invention;
FIG. 3 is a diagram of a force sensor calibration apparatus;
fig. 4 is a schematic diagram of a tandem robot joint driven by a linear hydraulic drive mechanism.
Reference numerals
1. A first connector; 2. a force sensor; 3. a hydraulic valve; 4. a hydraulic cylinder; 5. a hydraulic cylinder piston rod; 6. a second connector; 7. a piston; 8. the force sensor is calibrated.
Detailed Description
The technical scheme of the invention is further described below through the attached drawings and the embodiments.
Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.
Example 1
As shown in fig. 1, the measuring method proposed by the invention, namely, a force sensor is arranged at the rear end of a hydraulic cylinder barrel.
In the robot joint shown in fig. 4, taking joint 1 as an example, the actual output force of the hydraulic cylinder, i.e., the force output at the hydraulic cylinder piston rod, can be expressed as:
Fl＝Fs-Ff-Fa-Fg (1)
Wherein F l is the actual output force of the hydraulic cylinder; f s is a numerical value measured by a force sensor arranged at the rear end of the hydraulic cylinder barrel; f f is the friction force and damping force between the piston and the cylinder barrel of the hydraulic cylinder; f a is the inertial force generated by the hydraulic cylinder moving part; and F g is a component of the gravity of the hydraulic cylinder barrel and the hydraulic cylinder piston rod acting on the force sensor.
To obtain the actual output force F l of the hydraulic cylinder, F f、Fa and F g need to be calculated respectively, and the specific methods are as follows:
s1, calculating friction force and damping force between a piston and a cylinder barrel of a hydraulic cylinder;
s2, calculating an inertia force generated by a piston rod of the hydraulic cylinder;
s3, calculating the component of the gravity of the hydraulic cylinder barrel and the piston rod of the hydraulic cylinder acting on the force sensor;
S4, measuring and reading a force sensor arranged at the rear end of the hydraulic cylinder barrel;
s5, solving the actual output force of the hydraulic cylinder by using the formula (1).
Specifically, in step S1, according to the form shown in fig. 3, a linear motion mechanism calibration device is designed, the linear motion mechanism calibration device includes a first connecting piece 1, one side of the first connecting piece 1 is provided with a force sensor 2, the other side of the force sensor 2 is provided with a hydraulic cylinder 4, the upper side of the hydraulic cylinder 4 is provided with a hydraulic valve 3, the other side of the hydraulic cylinder 4 is provided with a hydraulic cylinder piston rod 5, a calibration force sensor 8 is sleeved on the hydraulic cylinder piston rod 5, one end of the calibration force sensor 8 far away from the hydraulic cylinder 4 is provided with a second connecting piece 6, a displacement sensor is arranged inside the hydraulic cylinder piston rod 5, and displacement data of objects at different time points can be recorded after the displacement sensor is started.
Fig. 2 shows an internal structure of the linear hydraulic drive mechanism. The cylinder piston rod 5 is connected to a piston 7 at an end remote from the second connection piece 6, the cylinder piston rod 5 and the piston 7 moving together in the cylinder 4.
The linear motion mechanism calibration device is horizontally placed, the components of the gravity action of the hydraulic cylinder barrel and the hydraulic cylinder piston rod on the rear end force sensor of the hydraulic cylinder barrel are ensured to be zero, the hydraulic cylinder piston rod is controlled to perform uniform motion, at the moment, both F a and F g are known to be zero, and then the formula (1) is simplified to be:
Fl＝Fs-Ff (2)
In the formula (2), the actual output force F l of the linear hydraulic driving mechanism is measured by a calibration force sensor arranged on a piston rod of the hydraulic cylinder, and F s is measured by a force sensor arranged at the rear end of the hydraulic cylinder; f f' is the friction force and damping force between the hydraulic cylinder piston and the cylinder barrel before the smoothing treatment;
the functional relationship of F f' and the hydraulic cylinder piston rod speed v is as follows:
Ff'＝f(v) (3)
By adopting a Lagrange interpolation method, selecting the numerical points of force sensors at n different speeds of a hydraulic cylinder piston rod as known points, detecting the size of F f ', namely, the function value at the speed v 0,v1…,vn-1 of the hydraulic cylinder piston rod is F 0',F1',……Fn-1 ', and constructing a polynomial function fitting F f ' and the speed v of the hydraulic cylinder piston rod:
where j= {0,1, … …, n-1} is the sequence number of the known data point; Bj＝{i|i≠j,i∈Dn}，Dn＝{0,1，……，n-1}；
Then, the differential calculation method is adopted to carry out smoothing treatment on the hydraulic cylinder piston rod speed v, the hydraulic cylinder piston rod speed v' after the smoothing treatment is obtained, and the four-point center difference method is adopted in the embodiment:
Wherein s (j) is the movement displacement of a piston cylinder of the hydraulic cylinder, k is the measurement time, T is the measurement period, The average of the displacements is measured for four adjacent times:
Substituting the smoothed cylinder rod speed v 'into the formula (4) to obtain a final polynomial function of F f and the smoothed cylinder rod speed v':
in step S2, an inertial force is generated by the hydraulic cylinder piston rod during acceleration and deceleration movement and acts on a force sensor at the rear end of the hydraulic cylinder, for a certain determined linear hydraulic actuating mechanism, the mass of the hydraulic cylinder piston rod is fixed, only the acceleration of the hydraulic cylinder piston rod is measured and calculated, and then the inertial force F a 'of the hydraulic cylinder piston rod is obtained by newton' S second law:
Fa'＝ma' (8)
Where m is the mass of the cylinder rod and a' is the acceleration of the cylinder rod obtained at this point in time, which is known.
The method comprises the steps that the calculation of the acceleration of a piston rod of a hydraulic cylinder is obtained by carrying out differential calculation on data detected by a displacement sensor twice, wherein the first differential calculation is to carry out differential calculation on displacement to obtain speed, and the second differential calculation is to carry out differential calculation on the speed to obtain the acceleration; and then carrying out smoothing treatment on the acceleration a' of the hydraulic cylinder piston rod by a differential calculation method to obtain the smoothed acceleration a of the hydraulic cylinder piston rod, and bringing the smoothed acceleration a of the hydraulic cylinder piston rod into a formula (8) to obtain the inertial force F a of the hydraulic cylinder piston rod:
Fa＝ma (9)。
In the step S3, in the robot joint, the linear hydraulic driving mechanism and the robot body form a triangle, in the triangle, two side lengths L1 and L2 connected with the linear hydraulic driving mechanism are fixed, and the length of the side length L3 where the linear hydraulic driving mechanism is positioned is the sum of the initial length of the linear hydraulic driving mechanism and the displacement of a piston rod of the hydraulic cylinder;
according to cosine theorem and inverse trigonometric function, the magnitude of the included angle between the axis of the linear hydraulic driving mechanism and the vertical direction is calculated, and the calculation formula is as follows:
wherein L 2 is the side length corresponding to the included angle A;
the components of the gravity of the hydraulic cylinder barrel and the hydraulic cylinder piston rod acting on the force sensor are calculated as follows:
Fg＝G×cos(A) (11)
Wherein G is the self gravity of the hydraulic cylinder barrel and the hydraulic cylinder piston rod.
Example two
When the differential calculation method is adopted to carry out the smoothing treatment on the speed v of the piston rod of the hydraulic cylinder, an incomplete difference method is used:
Wherein alpha is the filtering effect of the incomplete difference method, the smaller the alpha value is, the stronger the filtering effect is, and conversely, the larger the alpha value is, the weaker the filtering effect is; t s is a data sampling time interval.
The remainder is the same as in embodiment one.
Therefore, the high-precision detection method for the output force of the robot joint linear hydraulic driving mechanism can realize the high-precision detection of the output force of the linear hydraulic driving mechanism.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting it, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that: the technical scheme of the invention can be modified or replaced by the same, and the modified technical scheme cannot deviate from the spirit and scope of the technical scheme of the invention.
Claims (6)
1. The high-precision detection method for the output force of the robot joint linear hydraulic driving mechanism is characterized by comprising the following steps of:
s1, calculating friction force and damping force between a piston and a cylinder barrel of a hydraulic cylinder;
s2, calculating an inertia force generated by a piston rod of the hydraulic cylinder;
s3, calculating the component of the gravity of the hydraulic cylinder barrel and the piston rod of the hydraulic cylinder acting on the force sensor;
S4, measuring and reading a force sensor arranged at the rear end of the hydraulic cylinder barrel;
S5, solving the actual output force of the hydraulic cylinder through the formula (1);
Fl＝Fs-Ff-Fa-Fg (1)
Wherein F l is the actual output force of the hydraulic cylinder; f s is a numerical value measured by a force sensor arranged at the rear end of the hydraulic cylinder barrel; f f is the friction force and damping force between the piston and the cylinder barrel of the hydraulic cylinder; f a is the inertial force generated by the hydraulic cylinder moving part; f g is the component of the gravity of the hydraulic cylinder barrel and the piston rod of the hydraulic cylinder acting on the force sensor;
In step S1, the friction force and damping force between the piston and the cylinder of the hydraulic cylinder are calculated, specifically: the linear motion mechanism calibration device is designed, the linear motion mechanism calibration device is horizontally placed, the components of the gravity action of the hydraulic cylinder barrel and the hydraulic cylinder piston rod on the rear end force sensor of the hydraulic cylinder barrel are guaranteed to be zero, the hydraulic cylinder piston rod is controlled to perform uniform motion, at the moment, both F a and F g are zero, and the formula (1) is simplified to:
Fl＝Fs-Ff' (2)
In the formula (2), the actual output force F l of the linear hydraulic driving mechanism is measured by a calibration force sensor arranged on a piston rod of the hydraulic cylinder, and F s is measured by a force sensor arranged at the rear end of the hydraulic cylinder; f f' is the friction force and damping force between the hydraulic cylinder piston and the cylinder barrel before the smoothing treatment;
the functional relationship of F f' and the hydraulic cylinder piston rod speed v is as follows:
Ff'＝f(v) (3)
By adopting a Lagrange interpolation method, selecting force sensor values F j of a hydraulic cylinder piston rod at n different speeds as known points, detecting the size of F f ', namely, the function value at the position of the hydraulic cylinder piston rod speed v 0,v1…,vn-1 is F 0',F1',……Fn-1 ', and constructing a polynomial function fitting F f ' and the hydraulic cylinder piston rod speed v:
where j= {0,1, … …, n-1} is the sequence number of the known data point; As a lagrangian basis function, B j＝{i|i≠j,i∈Dn, dn= {0,1, … …, n-1};
Then, performing smoothing on the hydraulic cylinder piston rod speed v by adopting a differential calculation method to obtain a smoothed hydraulic cylinder piston rod speed v ', and substituting the smoothed hydraulic cylinder piston rod speed v ' into a formula (4) to obtain a final polynomial function of F f and the smoothed hydraulic cylinder piston rod speed v ':
2. The method for detecting the output force of the linear hydraulic driving mechanism of the robot joint with high precision according to claim 1, wherein in the step S2, the inertial force generated by the hydraulic cylinder piston rod during the acceleration and deceleration motion acts on the force sensor at the rear end of the hydraulic cylinder, for a certain determined linear hydraulic actuator, the mass of the hydraulic cylinder piston rod is fixed, only the acceleration of the hydraulic cylinder piston rod is measured and calculated, and then the inertial force F a 'of the hydraulic cylinder piston rod is obtained by newton' S second law:
Fa'＝ma' (6)
Where m is the mass of the cylinder rod and a' is the acceleration of the cylinder rod obtained at this point in time, which is known.
3. The method for detecting the output force of the linear hydraulic driving mechanism of the robot joint with high precision according to claim 2, wherein the calculation of the acceleration of the piston rod of the hydraulic cylinder is obtained by performing differential calculation on data detected by the displacement sensor twice, wherein the first differential calculation is to differentiate displacement to obtain speed, and the second differential calculation is to differentiate speed to obtain acceleration; and then carrying out smoothing treatment on the acceleration a' of the hydraulic cylinder piston rod by a differential calculation method to obtain the smoothed acceleration a of the hydraulic cylinder piston rod, and carrying the smoothed acceleration a of the hydraulic cylinder piston rod into a formula (6) to obtain the inertial force F a of the hydraulic cylinder piston rod:
Fa＝ma (7)。
4. The method for detecting the output force of the robot joint linear hydraulic driving mechanism with high precision according to claim 3, wherein the displacement sensor is arranged inside a piston rod of the hydraulic cylinder, and the displacement sensor can record displacement data of an object at different time points after being started.
5. The method for detecting the output force of the linear hydraulic driving mechanism of the robot joint with high precision according to claim 4, wherein in the step S3, in the robot joint, the linear hydraulic driving mechanism and the robot body form a triangle, in the triangle, two side lengths L 1 and L 2 connected with the linear hydraulic driving mechanism are fixed, and the length of the side length L 3 where the linear hydraulic driving mechanism is located is the sum of the initial length of the linear hydraulic driving mechanism and the displacement of the piston rod of the hydraulic cylinder;
According to cosine theorem and inverse trigonometric function, calculating the included angle A between the axis of the linear hydraulic driving mechanism and the vertical direction, wherein the calculation formula is as follows:
wherein L 2 is the side length corresponding to the included angle A;
the components of the gravity of the hydraulic cylinder barrel and the hydraulic cylinder piston rod acting on the force sensor are calculated as follows:
Fg＝G×cos(A) (9)
Wherein G is the self gravity of the hydraulic cylinder barrel and the hydraulic cylinder piston rod.
6. The method for detecting the output force of the linear hydraulic driving mechanism of the robot joint with high precision according to claim 5, wherein the calibration device of the linear motion mechanism comprises a first connecting piece, a force sensor is arranged on one side of the first connecting piece, a hydraulic cylinder is arranged on the other side of the force sensor, a hydraulic valve is arranged on the upper side of the hydraulic cylinder, a hydraulic cylinder piston rod is arranged on the other side of the hydraulic cylinder, a calibration force sensor is sleeved on the hydraulic cylinder piston rod, and a second connecting piece is arranged at one end, far away from the hydraulic cylinder, of the calibration force sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311311031.4A CN117415856B (en) | 2023-10-11 | 2023-10-11 | High-precision detection method for output force of robot joint linear hydraulic driving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311311031.4A CN117415856B (en) | 2023-10-11 | 2023-10-11 | High-precision detection method for output force of robot joint linear hydraulic driving mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117415856A CN117415856A (en) | 2024-01-19 |
| CN117415856B true CN117415856B (en) | 2024-05-10 |
Family
ID=89521962
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311311031.4A Active CN117415856B (en) | 2023-10-11 | 2023-10-11 | High-precision detection method for output force of robot joint linear hydraulic driving mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117415856B (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5448146A (en) * | 1993-01-29 | 1995-09-05 | Board Of Regents, The University Of Texas System | Method for applying constant force with nonlinear feedback control and constant force device using same |
| SE528593C2 (en) * | 2006-01-05 | 2006-12-27 | Gustav Svensson | Equipment is for measurement of transmittable rotating torque to tool chuck in which tool is held by friction force |
| KR101575487B1 (en) * | 2014-06-11 | 2015-12-08 | 현대자동차주식회사 | Method and system for calculating weight and center of gravity of object for robot |
| CN205918704U (en) * | 2016-07-12 | 2017-02-01 | 天津优瑞纳斯液压机械有限公司 | Pneumatic cylinder frictional force testing arrangement |
| CN108247654A (en) * | 2018-02-05 | 2018-07-06 | 遨博（北京）智能科技有限公司 | A kind of control method of robot, device and system |
| CN109270967A (en) * | 2018-10-20 | 2019-01-25 | 太原科技大学 | A kind of semi-active control method of blower fan tower barrel wind-induced vibration |
| CN110303521A (en) * | 2018-03-27 | 2019-10-08 | 清华大学 | Joint of robot torque signals acquisition system and method |
| WO2020101516A1 (en) * | 2018-11-12 | 2020-05-22 | Obshchestvo S Ogranichennoy Otvetstvennostyu "Tra Robotics" | Sensor-free force/torque sensing in an articulated electromechanical actuator-driven robot |
| CN111546350A (en) * | 2020-04-30 | 2020-08-18 | 浙江大学 | Multi-joint heavy-load hydraulic robot system and high-precision motion control method |
| CN113199507A (en) * | 2021-04-29 | 2021-08-03 | 杭州新松机器人自动化有限公司 | Hybrid-driven industrial robot balance cylinder system and method |
| CN114019892A (en) * | 2021-10-22 | 2022-02-08 | 上海电机学院 | Pneumatic compliance device control system and method based on PLC |
| CN115324973A (en) * | 2022-08-23 | 2022-11-11 | 江苏大学 | Damping coefficient testing device and method of independent air supply air floatation friction-free cylinder capable of generating eddy current damping |
| CN218030904U (en) * | 2022-08-09 | 2022-12-13 | 无锡和佳仪器仪表有限公司 | Straight stroke cylinder capable of displaying output force of cylinder |
| CN116044862A (en) * | 2022-12-09 | 2023-05-02 | 之江实验室 | Integrated hydraulic cylinder with built-in displacement sensor and hydraulic driving robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102448683B (en) * | 2009-07-02 | 2014-08-27 | 松下电器产业株式会社 | Robot, control device for robot arm, and control program for robot arm |
-
2023
- 2023-10-11 CN CN202311311031.4A patent/CN117415856B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5448146A (en) * | 1993-01-29 | 1995-09-05 | Board Of Regents, The University Of Texas System | Method for applying constant force with nonlinear feedback control and constant force device using same |
| SE528593C2 (en) * | 2006-01-05 | 2006-12-27 | Gustav Svensson | Equipment is for measurement of transmittable rotating torque to tool chuck in which tool is held by friction force |
| KR101575487B1 (en) * | 2014-06-11 | 2015-12-08 | 현대자동차주식회사 | Method and system for calculating weight and center of gravity of object for robot |
| CN205918704U (en) * | 2016-07-12 | 2017-02-01 | 天津优瑞纳斯液压机械有限公司 | Pneumatic cylinder frictional force testing arrangement |
| CN108247654A (en) * | 2018-02-05 | 2018-07-06 | 遨博（北京）智能科技有限公司 | A kind of control method of robot, device and system |
| CN110303521A (en) * | 2018-03-27 | 2019-10-08 | 清华大学 | Joint of robot torque signals acquisition system and method |
| CN109270967A (en) * | 2018-10-20 | 2019-01-25 | 太原科技大学 | A kind of semi-active control method of blower fan tower barrel wind-induced vibration |
| WO2020101516A1 (en) * | 2018-11-12 | 2020-05-22 | Obshchestvo S Ogranichennoy Otvetstvennostyu "Tra Robotics" | Sensor-free force/torque sensing in an articulated electromechanical actuator-driven robot |
| CN111546350A (en) * | 2020-04-30 | 2020-08-18 | 浙江大学 | Multi-joint heavy-load hydraulic robot system and high-precision motion control method |
| CN113199507A (en) * | 2021-04-29 | 2021-08-03 | 杭州新松机器人自动化有限公司 | Hybrid-driven industrial robot balance cylinder system and method |
| CN114019892A (en) * | 2021-10-22 | 2022-02-08 | 上海电机学院 | Pneumatic compliance device control system and method based on PLC |
| CN218030904U (en) * | 2022-08-09 | 2022-12-13 | 无锡和佳仪器仪表有限公司 | Straight stroke cylinder capable of displaying output force of cylinder |
| CN115324973A (en) * | 2022-08-23 | 2022-11-11 | 江苏大学 | Damping coefficient testing device and method of independent air supply air floatation friction-free cylinder capable of generating eddy current damping |
| CN116044862A (en) * | 2022-12-09 | 2023-05-02 | 之江实验室 | Integrated hydraulic cylinder with built-in displacement sensor and hydraulic driving robot |
Non-Patent Citations (3)
| Title |
|---|
| 刘超贤.摆动机构中液压缸的负载分析.工程机械.1985,(第05期),29-33. * |
| 基于虚拟样机的挖掘机器人液压缸内摩擦力确定方法研究;刘静;甘屹;潘双夏;;机械设计;20080820;第25卷(第08期);30-32 * |
| 新型全液压重载锻造机器人机构设计及分析;李阁强;王帅;邓效忠;周斌;;中国机械工程;20160531;第27卷(第09期);1168-1175 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117415856A (en) | 2024-01-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10933536B2 (en) | Sprung worm gripper for a robotic device | |
| JP7396983B2 (en) | coordinate positioning device | |
| CN103495977B (en) | 6R-type industrial robot load identification method | |
| KR100922494B1 (en) | Method for measuring pose of a mobile robot and method and apparatus for measuring position of the mobile robot using the method | |
| Ikeda et al. | Grip force control for an elastic finger using vision-based incipient slip feedback | |
| KR20090009172A (en) | Method and apparatus for measuring position of the mobile robot | |
| CN104715469A (en) | Data processing method and electronic device | |
| CN113146660A (en) | Mechanical claw for tactile perception by depth vision | |
| CN107443381A (en) | A kind of torque of elastic driving joint seeks zero method | |
| CN101660903A (en) | Extrinsic parameter computing method for measurement robot | |
| CN117415856B (en) | High-precision detection method for output force of robot joint linear hydraulic driving mechanism | |
| JP2022529611A (en) | Coordinate positioning machine | |
| KR101367154B1 (en) | Apparatus and method for estimating normal force of wheel vehicle | |
| JP2005212054A (en) | Force detecting method, force detector, and control device equipped with force detecting function | |
| CN118076474A (en) | Method for 3D printer and 3D printer | |
| CN113959359B (en) | Shape measuring device and method for pipeline-shaped continuous robot | |
| KR102279329B1 (en) | Robot teaching system | |
| CN113358121A (en) | Electrically-driven insect configuration foot type robot foot-to-ground slip estimation method | |
| KR101064516B1 (en) | Method for Calibrating Force Sensor Detecting Signal to estimate Pure External Interaction Force | |
| JP2750626B2 (en) | Identification method of viscous friction coefficient of positioning device | |
| CN117047750A (en) | Rigidity estimation method of underactuated manipulator without force sensor and encoder | |
| CN110948526B (en) | Sensing method of gas driver and gas driving system | |
| CN112285379B (en) | Robot maximum acceleration measuring method and system | |
| CN109990704B (en) | Planar four-bar linkage pose detection system and detection method based on machine vision | |
| Jaroslav et al. | Verifying the Performance Characteristics of the (micro) Robotic Devices |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |