工业机器人整机动态稳定性指标分析及测量方法

Dynamic Stability Index Analysis and Measurement Method of Industrial Robot

工业机器人是深入推动产业转型升级的关键装备,其性能优劣在很大程度上决定智能生产线的稳定性水平。对工业机器人的性能进行科学、及时、准确的测量及诊断是保证工业机器人高精度的重要手段。然而,传统的方法仅仅是根据现有的运动性能测试规范、机械电气安全测试标准对工业机器人进行检测,并没有对工业机器人整机的动态稳定性进行评价。针对该问题,本文提出一种工业机器人整机动态稳定性指标分析及测量方法。首先,梳理和分析影响工业机器人本体动态稳定性的指标;其次,详细介绍传感器的布点方法;最后,分别进行仿真分析并以伯朗特工业机器人为对象进行动态稳定性实验。实验证明,本文提出的方法具备可行性和正确性。

Industrial robot is the key equipment to further promote industrial transformation and upgrading,and its performance largely determines the stability level of intelligent production line.Scientific,timely and accurate measurement and diagnosis of the performance of industrial robots is an important means to ensure the high precision of industrial robots.However,the traditional methods only detect the industrial robot according to the existing motion performance test specifications and mechanical and electrical safety test standards,and do not evaluate the dynamic stability of the whole industrial robot.To solve this problem,this paper presents an analysis and measurement method of dynamic stability index of industrial robot.Firstly,the indexes affecting the dynamic stability of industrial robot body are combed and analyzed;Then,the sensor placement method is introduced in detail;Finally,the dynamic stability experiments of Borunte industrial robot are carried out through simulation.Experiments show that the method proposed in this paper is feasible and correct.