基于改进四阶矩估计法的六轴机器人运动可靠性分析  

Research on Motion Reliability of Six-Axis Robot Based on Improved Fourth-Order Moment Estimation Method

作　　者：吴海淼[1] 陈鹏[1] 崔国华[1,2] 崔康康 刘健 WU Haimiao;CHEN Peng;CUI Guohua;CUI Kangkang;LIU Jian(College of Mechanical and Equipment Engineering,Hebei University of Engineering,Handan Hebei 056038,China;Intelligent Robot Research and Development Center,Shanghai University of Engineering Science,Shanghai 201620,China)

机构地区：[1]河北工程大学机械与装备学院,河北邯郸056038 [2]上海工程技术大学智能机器人研发中心,上海201620

出　　处：《机械设计与研究》2019年第5期11-14,23,共5页Machine Design And Research

基　　金：上海市地方高校能力建设计划资助项目(18030501200);国家自然科学基金资助项目(51775165)

摘　　要：针对六轴机器人运动可靠性问题,提出一种基于改进四阶矩估计法的机器人运动可靠性评估方法。首先根据等效极值原则推导六轴机器人的极限状态函数,然后采用改进四阶矩方法对六轴机器人的可靠度进行求解。在理论分析的基础上,引入实例进行了可靠度求解,通过与蒙特卡洛法和四阶矩法的对比,验证了上述改进四阶矩方法的正确性。该研究为后续进行优化设计奠定了理论依据。This paper proposed an innovative approach to robot motion reliability assessment method based on improved fourth-order moment estimation. Firstly, the limit state function of the six-axis robot is derived according to the principle of equivalent extremum. Then the reliability of the six-axis robot is solved by the improved fourth-order moment method. On the basis of theoretical analysis, the reliability is solved by introducing example. The correctness of the improved fourth-order moment method proposed in this paper is verified by comparison with Monte Carlo method and fourth-order moment method. The research in this paper lays a theoretical foundation for the subsequent optimization design.

关 键 词：六轴机器人 可靠性 改进四阶矩估计法 拉格朗日乘子 

分 类 号：TH115[机械工程—机械设计及理论]