Multi-centroid finite point method and its application to the dynamic modeling of industrial robots
LIU Mushen1,2，ZHANG Feibin1，WANG Tianyang1，CHU Fulei1，CHENG Weidong2，LIU Youmin3
1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China;
2. School of Mechanial, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China;
3. Beijing Institute of Space Launch Technology, Beijing 100084, China
Abstract：The dynamic modeling of industrial robots is of great significance to improve the positioning accuracy of the robot end. Traditional industrial robot dynamics modeling methods are mostly based on the rigidity assumption of the robot rod, which fails to meet the modeling requirements of considering the robot elastic vibration phenomenon caused by the flexibility of the arm. For this reason, the paper studies the multi-centroid finite particle method and its application in the dynamic modeling of industrial robots. In this method, a simple and unified frame was used to perform dynamic analysis on the flexible deformation of the member. Compared with the traditional finite particle method, the reverse movement method not only has a simpler and more convenient derivation process, but also effectively reduces the influence of element rigid body displacement to solve the pure deformation at the node. This improves the computational convergence of the rigid body large rotation-flexible deformation coupling model for industrial robots. The cantilever beam model verified the accuracy and convergence of the method proposed in the paper. Furthermore, the multi-centroid finite particle method was combinedly used with the positive kinematics to model the dynamics of the industrial robot, and the modeling results were compared with the experimental data, which verifies that the results by the model and the experimental results have a good degree of coincidence.
刘目珅1,2， 张飞斌1，王天杨1，褚福磊1，程卫东2，刘佑民3. 多质心有限质点法及其在工业机器人动力学建模的应用[J]. 振动与冲击, 2022, 41(18): 1-8.
LIU Mushen1,2，ZHANG Feibin1，WANG Tianyang1，CHU Fulei1，CHENG Weidong2，LIU Youmin3. Multi-centroid finite point method and its application to the dynamic modeling of industrial robots. JOURNAL OF VIBRATION AND SHOCK, 2022, 41(18): 1-8.
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