3T0R类圆钢端面贴标混联机构构型优选  

Optimal type selection of 3T0R labeling hybrid mechanism for the round steel end surfaces

作　　者：张付祥[1] 刘再 黄风山[1] ZHANG Fuxiang;LIU Zai;HUANG Fengshan(School of Mechanical Engineering,Hebei University of Science and Technology,Shijiazhuang,Hebei 050018,China)

机构地区：[1]河北科技大学机械工程学院,河北石家庄050018

出　　处：《河北工业科技》2018年第6期448-453,共6页Hebei Journal of Industrial Science and Technology

基　　金：河北省自然科学基金(E2017208111);河北省科技计划项目(172176135D)

摘　　要：为保证用于圆钢端面贴标的工业机器人的设计质量,根据成捆圆钢端面贴标的工程应用场景,采用模糊综合评价法及层次分析法对尺度不确定的候选机构进行比较优选。以备选方案为基础建立模糊综合评价决策集,分析贴标工作及机构学相关知识,建立模糊综合评价因素集,比较各因素的重要性程度建立评价指标权重集,依据层次分析法对各评价指标建立模糊评判矩阵,由权重集及评判矩阵得到模糊决策集并对各方案进行排序优选,综合评价结果为RRP4RR> RRRP4RR>RRRRR。圆钢端面贴标混联机构可采用RRP4RR并联机构串接RR串联机构,所应用的模糊综合评价法可为贴标机构构型的优选提供决策依据。To ensure industrial robot design quality of labeling mechanism, according to engineering application market of a bundle of labeling for the round steel end surfaces, the fuzzy comprehensive evaluation method and analytic hierarchy method are applied for the optimal type selection of mechanism configuration scheme whose scale is uncertain. Based on the alternatives, fuzzy comprehensive evaluation decision set is established. It analyzes the labeling work and knowledge related to the institution to establish the fuzzy comprehensive evaluation factor set. The importance of each factor is compared to establish the evaluation index weight set. According to the analytic hierarchy process, the fuzzy evaluation matrix of each evaluation index is established. The fuzzy decision-making set is obtained from the weight set and the judgment matrices, the programs are sorted and optimized.The result is RRP 4R R〉RRRRR.The labelling hybrid mechanism for the round steel end surfaces adopts RRP 4R R parallel mechanism in series with RR series mechanism. The selected fuzzy comprehensive evaluation method can proride reference for the decision making in labeling mechanism type selection.

关 键 词：工业机器人 贴标机构 模糊综合评价 层次分析法 构型优选 混联机构 

分 类 号：TH112[机械工程—机械设计及理论]