随机参数双连杆柔性机械臂的可靠性分析  

RELIABILITY ANALYSIS ON TWO-LINK FLEXIBLE ROBOT MANIPULATOR WITH RANDOM PARAMETERS

作　　者：赵宽[1] 陈建军[1] 曹鸿钧[1] 云永琥[1] 

机构地区：[1]西安电子科技大学电子装备结构设计教育部重点实验室,西安710071

出　　处：《工程力学》2015年第2期214-220,共7页Engineering Mechanics

基　　金：国家自然科学基金项目(51175398)

摘　　要：将Lagrange方程和假设模态法相结合建立了考虑关节处摩擦的双连杆柔性机械臂的动力学模型。考虑随机因素的影响,将随机因子法的处理方式引入随机响应面法中,提出一种处理多输入随机参数的双连杆柔性机械臂系统可靠性分析方法,并分别建立了系统强度、刚度和运动功能的功能函数。通过算例验证了该文模型和方法的合理性和可行性,同时预测了系统的可靠度。研究结果表明,同可靠性分析的Monte-Carlo法相比,该方法对双连杆柔性机械臂的可靠性分析具有良好的精度和效率,在取相同变异系数的情况下,几何参数对系统可靠度的影响较大。The Lagrange dynamic differential equations and the assumed mode method were combined to establish a model of two-link flexible robot manipulator considering the friction force in the joints. Considering the influence of stochastic factors, the random factor method was embedded into the stochastic response surface method to improve the reliability analysis method of two-link flexible robot manipulator with multiple stochastic inputs. The system performance functions of strength, stiffness and the motion function were developed. The rationality and feasibility of the modeling and the method presented were verified by a case study, and the reliability of the system was predicted. The results demonstrate the proposed method can achieve high accuracy and efficiency compared with Monte-Carlo method, while the randomicity of geometrical parameters has greater effect on the system reliability.

关 键 词：可靠性分析 柔性机械臂 随机响应面法 随机因子法 LAGRANGE方程 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]