Industrial Robot Trajectory Planning And Trajectory Accuracy Reliability Evaluation

Industrial robot is an important equipment of intelligent manufacturing,known as "the pearl at the top of the manufacturing crown".Improving its design level and reliability is an important direction of the research of “Made in China 2025”.Trajectory planning is an important foundation for the research of industrial robots,and has significant implications for improving the motion performance,reliability,and safety of industrial robots.The six-axis robot is mainly composed of body structural components,reducers,servo motors,controllers,etc.The reducers are used to carry the loads of various joints of the robot.RV(Rotary Vector,RV)reducer has the characteristics of compact structure,smooth transmission,and strong load-bearing capacity,making it one of the key components of industrial robot joints.RV reducers are generally placed in heavy load positions such as the boom and shoulders,and their transmission accuracy has a significant impact on industrial robots.The trajectory accuracy of industrial robots is one of the important indicators to measure their performance.Under the influence of uncertain factors such as manufacturing,assembly errors,and loads,how to efficiently and accurately evaluate the trajectory accuracy and reliability of industrial robots is an important research content of this thesis.Kinematics analysis,dynamics analysis,trajectory planning and uncertainty quantification are important steps to accurately evaluate the reliability of industrial robot trajectory accuracy.The main content of this paper includes four parts: Kinematics and dynamics analysis of industrial robot considering joint flexibility;Multi objective trajectory planning for industrial robots;Dynamic transmission error and uncertainty analysis of joint RV reducer;Reliability analysis of industrial robot trajectory accuracy considering uncertainties such as joint dynamic transmission errors,machining and assembly errors.The specific work is as follows:(1)Kinematics and dynamics analysis of flexible joint robot.Kinematics and dynamics analysis are the basis of industrial robot research.In this paper,the dynamic model of industrial robot with joint flexibility is established based on Lagrange method.Taking the IRB1600 robot as the prototype,dynamic simulation of an industrial robot with joint flexibility is conducted in MATLAB,and the end trajectory of the robot is analyzed under different joint stiffness.(2)Multi objective trajectory planning for industrial robots considering joint flexibility.Trajectory planning is an important link in ensuring the trajectory accuracy of industrial robots.How to improve the efficiency of industrial robots while reducing their energy consumption and improving the smoothness of their trajectories is the focus of research on trajectory planning for industrial robots.This thesis establishes a multiobjective trajectory optimization model for the IRB1600 industrial robot and solves it based on intelligent optimization algorithms.(3)Dynamic transmission error analysis and uncertainty quantification of industrial robot joint reducer.As a key component of industrial robot power transmission,the dynamic transmission accuracy of joint reducer has a significant impact on the end trajectory accuracy of industrial robots.How to efficiently and accurately quantify the random characteristics of dynamic transmission errors of joint reducers under the influence of uncertainty factors is an important research content of this thisis.This thesis considers the effects of joint load uncertainty,RV reducer cycloidal gear backlash uncertainty,and assembly error randomness.Based on ADAMS dynamic simulation and polynomial chaos expansion,an uncertainty quantification model is established to analyze the random distribution characteristics of dynamic transmission error for RV reducer.(4)Reliability evaluation of industrial robot trajectory accuracy considering the randomness of traditional joint dynamic error.The reliability evaluation of industrial robot trajectory accuracy is a time-varying nonlinear problem.How to evaluate the reliability of trajectory accuracy with high precision and efficiency has always been the focus of industrial robot reliability research.This thesis considers the randomness of dynamic transmission error,manufacturing and assembly error of joint RV reducers to establish a reliability evaluation model for industrial robot trajectory accuracy.Based on the joint simulation by ADAMS and MATLAB,batch simulation of industrial robot end trajectory is conducted to obtain end trajectory error data.On this basis,the accuracy and reliability of the end trajectory of industrial robots are analyzed based on polynomial chaotic expansion and saddle point approximation,providing a foundation for improving the reliability of robot motion accuracy.