Research On Gravity Compensation Method For Horizontal Hybrid Robot

According to China’s important requirements for the processing of hybrid robots in the fields of aviation,aerospace and other industrial manufacturing,aiming at the gravity compensation problems that exist universally and need to be solved urgently in the horizontal hybrid equipment,this paper takes the horizontal hybrid robot of TriMule as a typical research object,and according to the structure of the robot and the characteristics of the control system,puts forward a gravity compensation of the horizontal hybrid robot of TriMule.Using this strategy,the effect of gravity compensation is evaluated,and the gravity compensation system is optimized.The purpose is to provide a new method and reference for the gravity compensation of the horizontal hybrid robot.Firstly,the structure of the TriMule horizontal hybrid robot is analyzed briefly,and the virtual prototype of the TriMule horizontal hybrid robot is simulated by using the finite element analysis software ANSYS,so as to obtain the displacement and deformation law of the robot’s end position along the gravity direction due to the influence of its own gravity,and the necessity of gravity compensation is verified.Then,by studying the structure and control characteristics of the TriMule horizontal hybrid robot,and combining with the analysis of the development of gravity compensation field,a gravity compensation scheme is proposed,that is,according to the method of kinematic compensation in the robot’s Turbo PMAC motion control system,gravity compensation variables are inserted into the kinematics,and fuzzy control links are added to the robot control system To give the compensation variable value,Thus,the offset of the robot’s end position caused by its own gravity is compensated.The specific content is to design a gravity compensation system with fuzzy control link,that is,to add fuzzy logic toolbox in the upper computer interface of the robot,and use the communication and real-time refresh function between Turbo PMAC control system and the upper computer to input the current end position coordinates of the robot into the fuzzy control module in real time,and output the compensation value of gravity direction and assign it to the controller The gravity compensation variable in the kinematics of the brake system.At last,by using the laser tracker to measure and analyze the moving track of the robot end in space,the effect of gravity compensation is evaluated.The specific method is: firstly,the coordinate system of the robot and the laser tracker is transformed into the same coordinate system through the coordinate conversion of the robot and the laser tracker;then,the actual motion trajectory and the theoretical trajectory before and after the application of gravity compensation are compared to verify the gravity compensation effect of the robot,finally,the compensation effect of the gravity compensation system is optimized to some extent.