Research On Terminal Precision Guarantee And Stop Planning Of Rigid-Flexible Coupled Robot System

This paper takes the large-scale workspace automatic established spraying system under the support of the large-scale aircraft automatic spraying equipment development and application demonstration-National Science and Technology Support Project as the practical application background,and the terminal precision guarantee and stop planning for the rigid-flexible coupled robot system In-depth study of major key issues.Based on the kinematic redundancy inverse analysis and dynamics modeling of the system,the performance index evaluation optimization research is carried out,and a high-quality workspace for the rigid-flexible coupled serial robot system is defined to ensure the accuracy of the terminal spraying.Then,on the basis of the above-mentioned high-quality work space,the key issues such as stop planning and trajectory compensation involved in the high-quality and efficient operation of the automatic spraying system are discussed.Finally,the modal parameter identification experiment is carried out for the built automatic spraying system,which provides key parameters for trajectory compensation and vibration suppression.The specific contents are as follows:A new automatic spray system architecture for placing non-orthogonal tandem industrial robots on a four-degree-of-freedom cable drive platform,using geometry,D-H coordinate transformation and geometric symmetry-based redundant inverse analysis to the motion of the spray system Learn to analyze.Based on Newton-Eulerian method,the reaction force system solving model of industrial robot system is established and verified by ADAMS software,which lays a foundation for the analysis of dynamic performance evaluation index and the establishment of trajectory compensation model for the rigid-flexible coupled robot system.The research on the precision performance evaluation index of the rigid-flexible coupled robot system is carried out.The accuracy of the robot body terminal of the automatic spraying system is analyzed by using the isotropic index-local condition number.Furthermore,a reaction force ellipsoid evaluation index is proposed.This index can characterize the reaction force generated by robot motion.Based on this index,a high-quality workspace of rigid-flexible coupled industrial robot system is proposed to improve the terminal precision of such flexible support spraying system.Based on the high-quality workspace of industrial robots,the method of defining the special geometric features of the plane,cylindrical surface and circular table top is proposed.The strategy of dividing the area of the sprayed surface is established,and the spraying stop planning of the ARJ21 aircraft is completed.Based on the reaction force solved by Newton's Euler method,the excitation response transfer function model of the rigid-flexible coupled robot system is established.The model can solve the displacement response of the flexible support platform during the spraying process in real time,thus providing the final spray trajectory planning key compensation parameters.