Dynamic Analysis And Optimal Energy Planning For High-speed Manipulators

With the transformation and upgrading of the manufacturing industry,the application of a large number of industrial robots has significantly improved the production efficiency,production cost and product quality of industrial products,but it also brought about the problem of excessive energy loss during the operation of the robot.Moreover,the national policy requirements for energy saving and emission reduction also provide a clear direction for the research of robots,that is,to reduce the energy consumption of robots during the operation process.In this paper,IRB140 industrial robot is taken as the research object,and the optimal energy consumption trajectory is planned.According to the energy flow of the robotic arm system,after comprehensively considering the motor heat loss,joint friction loss and mechanical motion energy consumption,the total energy consumption model of the robot system is established.Among them,according to the motor energy consumption form,the iron loss,copper loss and mechanical loss are analyzed separately to achieve the establishment of the motor thermal loss model;the DH representation is used to model the joints and links of the IRB140 robot and establish the corresponding motion Model,rigid body dynamic model and dynamic model considering joint friction.Finally,simulation analysis of kinematics and dynamics models is carried out in the ADAMS environment to verify the correctness of the model.Aiming at the problem that the friction torque of the mechanical arm joint is not easy to measure,a joint friction identification method based on energy model is proposed.The genetic algorithm is used to identify the Stribeck friction model parameters in the single-degree-of-freedom system based on the friction torque value and the energy value,respectively,and the accuracy of the two parameter identification is verified by the identification simulation results.The identification result shows the feasibility of the identification method based on energy model in the high-speed interval.Analyze and design the experimental scheme for measuring the energy consumption value of the robot arm,and obtain the different speeds and corresponding energy consumption data of the IRB140 robot joint one operating at a constant speed within a specified time.Finally,the proposed identification method is used to identify the joint friction parameters of IRB140 robot joint one.The energy consumption model of the single-joint system is established by analysis,and the optimal energy consumption trajectory planning is performed in the rectangular coordinate space and the joint space respectively according to the description of the selected trajectory space.For the optimal energy consumption trajectory in rectangular coordinate space,due to the multiplicity of kinematic inverse solutions,the same trajectory task can be completed with different joint rotation angle configurations.Taking linear trajectory as an example,the trajectory is expressed mathematically,and the optimal energy consumption solution set that meets the operating conditions is found.For the optimal energy consumption trajectory of joint space,through the comparison analysis of the planning scheme,the five-degree non-uniform B-spline curve trajectory planning method is selected as the theoretical basis for the optimal energy trajectory planning;The genetic algorithm with constraints realizes the optimization of the five-time non-uniform B-spline trajectories for a given data point;ultimately,the goal of optimizing the trajectory for low energy consumption.