可缠绕式混合驱动柔索并联机器人可靠性分析  

The Reliability Analysis of the Winding Hybrid-Driven Cable Parallel Manipulator

作　　者：韩雪[1] 訾斌[1,2] 孙辉辉[1] 

机构地区：[1]中国矿业大学机电工程学院,江苏徐州221000 [2]合肥工业大学机械与汽车工程学院,安徽合肥230009

出　　处：《机械设计与制造》2015年第4期155-158,162,共5页Machinery Design & Manufacture

基　　金：国家自然科学基金(51275515);中央高校基本科研业务费专项资金(2014HGCH0015)

摘　　要：根据可缠绕式混合驱动柔索并联机器人的机构组成及工作原理,将失效模式与影响分析法(FMEA)和引入模糊集理论的故障树分析法(FTA)应用到该机器人系统的可靠性研究中,分析了机器人各子系统中零部件所有可能的故障模式、故障原因以及故障模式对系统的影响,找出了系统中潜在的薄弱环节和关键的零部件,通过理论计算可以得到机器人系统的故障隶属函数表及总体失效概率,结果显示机器人控制子系统对系统可靠性影响要大于机器人本体子系统和机器人动力子系统。研究结果对提高可缠绕式混合驱动柔索并联机器人系统可靠性有一定的指导意义。According to the constitutions of mechanism and working principle of the winding hybrid-driven cable parallel manipulator, the reliability of the robot system is studied in this paper with the methods of FMEA and FTA based on the fiLzz set theory. The paper analyzes all possible fault causes, fault modes of parts in the subsyste and their influences on the robot system, and finds out the potential weak segments and key parts in the robot system. The fault membership function table and the total failure probability of the robot system can be obtained by tbearetical calculation. The results show that the robot control subsystem has more effect on the robot system than the robot body subsystem and the robot dynamical subsystem. The study have a certain guiding signilCwance to improve the reliability of the winding hybrid-driven cable parallel manipulator system.

关 键 词：混合驱动柔索并联机器人 失效模式与影响分析 故障树分析法 模糊集理论 可靠性 

分 类 号：TH16[机械工程—机械制造及自动化]