Industrial Robots Ontology Energy Consumption Characteristics Analysis And Dynamic Modeling Research

Manufacturing industry is considered as China's pillar industry,its energy consumption problem is very obvious,and due to the disappearance of population dividends in recent years,China's manufacturing industry is facing the problem of transformation and upgrading.Industrial robots which have advantages of high precision,high speed,high efficiency and can stable work in complex environment are widely used in the manufacturing industry supporting the transformation and upgrading of the manufacturing sector.Industrial robots as the main implementation of the manufacturing unit,its energy consumption is huge,industrial robot energy consumption optimization is of great significance for the entire manufacturing industry energy-saving emission reduction.To realize the optimization of energy consumption of industrial robots,we must first establish the energy consumption model of industrial robots.In this paper,the research object are serial industrial robots,a comprehensive analysis of energy consumption characteristics is conducted for the industrial robot ontology in the manufacturing process,and the industrial robot ontology energy consumption modeling is most important which transfer qualitative energy consumption description into quantitative equation.In order to identify the unknown inertial parameters in the robot energy consumption model,a practical parameter identification method is proposed.The main contents are as follows:(1)According to the working principle and physical structure of industrial robots,the "energy flow" of the industrial robot system is analyzed.The energy consumption of the industrial robot system is divided into several parts: the loss of the joint motor,the mechanical energy consumption,the auxiliary equipment energy consumption and control circuit loss.Based on the physical formula,the industrial robot ontology energy consumption characteristics are analyzed.(2)The industrial robot ontology energy consumption modeling is researched emphatically which is mainly the modeling of the driving torque of the joint motor.The torque model of each joint is deduced according to the dynamics of the industrial robot.Moment and joint motion parameters are used as identification parts of the identification system to identify unknown parameters in the model.Because the joint torque value of some industrial robots can't be easily obtained,this paper proposes an engineering practical identification method based on the total motor power to identify the unknown parameters in the torque model.The model can adapt to the dynamic performance of the different trajectories of the robot.Based on this method,the various loads encountered in the processing are identified,so that the industrial robots can convert different identification parameters and improve the energy consumption model accuracy when different loads are encountered.(3)According to the identification method based on the total power of the motor,the experimental platform is set up,the experimental method is designed and the experimental results are verified.Through the experiment,the inertial parameters and load parameters of each joint link are identified,and the complete industrial robot ontology energy consumption model is established.Through the experimental verification,the correctness of the identification parameters are verified,and in several typical manufacturing conditions,the accuracy of energy consumption model are verified.