CN206096793U - Robot kinematics with move mechanical model verification system - Google Patents
Robot kinematics with move mechanical model verification system Download PDFInfo
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- CN206096793U CN206096793U CN201621140492.5U CN201621140492U CN206096793U CN 206096793 U CN206096793 U CN 206096793U CN 201621140492 U CN201621140492 U CN 201621140492U CN 206096793 U CN206096793 U CN 206096793U
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Abstract
The utility model belongs to the technical field of the mechanical automation, relate to robot kinematics with move mechanical model verification system. A robot kinematics with move mechanical model verification system, includes the base, moves the platform, the encoder of acting as go -between, torque sensing ware, the encoder of acting as go -between pass through the bolt fastening on the base, the encoder of acting as go -between act as go -between through the bolt fastening on moving the platform, the torque sensing ware is connected through flange plate bolt and is moved the platform. The utility model discloses a robot kinematics with move mechanical model verification system simple structure, verification method easily operates, greatly reduced the robot move mechanical model's the verification degree of difficulty, reduced the verification cost simultaneously.
Description
Technical field
The invention belongs to technical field of mechanical automation, is related to robot kinematics and Verification on Kinetic Model system.
Background technology
During robot manipulating task in order to be able to make full use of power of motor, improve operating efficiency, optimization robot motion
Track, raising robot control accuracy, are required for using the kinetic model of robot.Its is correct after robot model sets up
Whether, need a kind of detection platform to be verified.
The kinetic model problem to be solved：（1）Required electricity is asked for according to loading condition and required acceleration
Machine power square.（2）The speed of end terminal-collecting machine, acceleration are asked for according to motor output torque and moving platform loading condition.Therefore
Checking kinetic model needs the physical quantity of detection to have：Moving platform position and attitude, motor output torque, arm end are received
Power.
In prior art, Dynamic Models of Robot Manipulators checking is difficult, and special verification device is expensive, makes many medium and small enterprises
Industry can't afford.
The content of the invention
For the above-mentioned problems in the prior art, the present invention provide a kind of simple and feasible dynamics checking system and
Method.
The present invention solves the technical scheme of its technical problem employing：A kind of robot kinematics and Verification on Kinetic Model
System, including base, moving platform, draw wire encoder, torque sensor；Described draw wire encoder is bolted on base
On, the bracing wire of draw wire encoder is bolted on moving platform, and torque sensor connects moving platform by flange plate bolt.
Described base is regular hexagon, and the point midway of base each edge fixes a draw wire encoder.
The robot kinematics of the present invention and Verification on Kinetic Model system simple structure, verification method is easily operated, greatly
The validation difficulty of Dynamic Models of Robot Manipulators is reduced greatly, while reducing checking cost.
Description of the drawings
Fig. 1 is the structural representation of the robot kinematics of the present invention and Verification on Kinetic Model system.
Specific embodiment
With reference to the accompanying drawings and examples to robot kinematics of the invention and Verification on Kinetic Model system and method
It is described in detail.
As shown in figure 1, the robot kinematics of the present invention and Verification on Kinetic Model system, including base 1, bracing wire coding
Device 2, moving platform 3, torque sensor 4；Base 1 is regular hexagon, and draw wire encoder 2 is bolted on each edge of base
Point midway, the bracing wire of draw wire encoder 2 is bolted on moving platform, and torque sensor 4 passes through flange plate bolt
Connection moving platform 3.During checking, torque sensor 4 is connected by flange plate bolt with robot end.
The robot kinematics of the present invention and Verification on Kinetic Model method, comprise the following steps that：1st, by flange valve snail
Bolt is connected to torque sensor needs the robot end for being recorded track.
2nd, driving moving platform to move to dead-center position robot end carries out Zero calibration.
3rd, draw wire encoder is accessed into solid high motion control card GTS-400-pg 1-6 axles, carries out encoder to count collection；
Motion control card is inserted in the PCI slot of industrial computer.
4th, torque sensor is ground into magnificent AD data collecting cards by 6 passages and sends into industrial computer, carry out robot end's load
Data acquisition.
5th, kinetic control system is made by Ethercat motion controllers and ethercat servo-driver frameworks by programming
Robot completes a certain track motion.
6th, motion controller records one group of data, including joint position every 4ms during robot motion（That is servo
Motor position）, motor output torque data（That is servomotor electric current）；And industrial computer record six is triggered by pulse-triggered mode
Individual encoder position data, and robot end's load（Obtained by gathering the six-dimensional force of torque sensor）；Collection
Data are as shown in table 1.
The data of motion controller collection during the robot motion of table 1
| Joint position | Draw wire encoder position | Motor output torque | Robot end loads | |
| Data 1 | ||||
| Data 2 | ||||
| Data 3 | ||||
| …… |
7th, data analysis：According to joint position or the position data of draw wire encoder, and the kinematics mould that user sets up
Type can calculate robot end's position data；According to draw wire encoder position data and Stewart platform kinematics moulds
Type can calculate moving platform position data.
8th, the checking of kinematics and dynamics modeling：By contrasting moving platform position data and robot end's positional number
According to the correctness and precision that can verify kinematics model；Loaded by motor output torque, robot end, with machine
Human occupant dynamic model can calculate robot end's movement locus；The track carries out contrast with moving platform track can be with verification machine
Device human occupant dynamic model correctness.
Claims (2)
1. a kind of robot kinematics and Verification on Kinetic Model system, it is characterised in that：Compile including base, moving platform, bracing wire
Code device, torque sensor；Described draw wire encoder is bolted on base, and the drawstring of draw wire encoder passes through bolt
It is fixed on moving platform, torque sensor connects moving platform by flange plate bolt.
2. robot kinematics according to claim 1 and Verification on Kinetic Model system, it is characterised in that：Described bottom
Seat is regular hexagon, and draw wire encoder is fixed on the point midway of base each edge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621140492.5U CN206096793U (en) | 2016-10-20 | 2016-10-20 | Robot kinematics with move mechanical model verification system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621140492.5U CN206096793U (en) | 2016-10-20 | 2016-10-20 | Robot kinematics with move mechanical model verification system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206096793U true CN206096793U (en) | 2017-04-12 |
Family
ID=59976443
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621140492.5U Expired - Fee Related CN206096793U (en) | 2016-10-20 | 2016-10-20 | Robot kinematics with move mechanical model verification system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206096793U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110948522A (en) * | 2019-11-19 | 2020-04-03 | 南京熊猫电子股份有限公司 | Industrial robot space pose measuring mechanism and measuring method based on stay wire rotation sensor |
| WO2020215385A1 (en) * | 2019-04-26 | 2020-10-29 | 哈尔滨工业大学（深圳） | Kinematics test system for rope-driven flexible robot |
-
2016
- 2016-10-20 CN CN201621140492.5U patent/CN206096793U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020215385A1 (en) * | 2019-04-26 | 2020-10-29 | 哈尔滨工业大学（深圳） | Kinematics test system for rope-driven flexible robot |
| CN110948522A (en) * | 2019-11-19 | 2020-04-03 | 南京熊猫电子股份有限公司 | Industrial robot space pose measuring mechanism and measuring method based on stay wire rotation sensor |
| CN110948522B (en) * | 2019-11-19 | 2022-06-21 | 南京熊猫电子股份有限公司 | Industrial robot space pose measuring mechanism and measuring method based on stay wire rotation sensor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhou Xisheng Inventor after: Gao Chengmin Inventor before: Zhou Xisheng Inventor before: Hu Aihua Inventor before: Gao Chengmin |
|
| CB03 | Change of inventor or designer information | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180514 Address after: 266000 102, MAX 15 commercial red bay, 17 Guang Bo Road, high tech Zone, Qingdao, Shandong. Patentee after: Qingdao mangrove science and Technology Co., Ltd. Address before: 266041 Chengyang, Qingdao, Shandong Province, after the Haihong community, 999 meters west of Haixi community. Patentee before: Qingdao dolphin Intelligent Equipment Co., Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170412 Termination date: 20181020 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |