考虑制造误差的工业机器人精度可靠性分析  

Accuracy reliability analysis of industrial robots considering manufacturing errors

作　　者：李国发[1,2] 韩良晟 何佳龙 王继利[1,2] LI Guofa;HAN Liangsheng;HE Jialong;WANG Jili(Key Laboratory of CNC Equipment Reliabily,Ministry of Education,Jilin University,Changchun 130015,CHN;School of Mechanical and Aerospace Engineering,Jilin University,Changchun 130015,CHN)

机构地区：[1]吉林大学数控装备可靠性教育部重点实验室,吉林长春130015 [2]吉林大学机械与航空航天工程学院,吉林长春130015

出　　处：《制造技术与机床》2022年第5期5-11,共7页Manufacturing Technology & Machine Tool

基　　金：吉林省科技发展计划项目(重点研发)“基于数字孪生的工业机器人预测性维护技术研究及应用”(20210201055GX)。

摘　　要：针对工业机器人定位精度受关节加工及装配误差等不确定因素影响的问题,提出了一种基于运动学模型和Kriging代理模型的六自由度工业机器人可靠性分析方法。通过D-H模型建立了六自由度工业机器人理想正运动学模型,建立了各关节配合表面误差传递路径并结合小位移旋量法(SDT)与MD-H模型构建了六自由度工业机器人的包含关节误差的运动学模型,利用蒙特卡洛进行仿真试验。利用拉丁超立方抽样(LHS)试验构建了六自由度工业机器人功能函数的Kriging代理模型,并基于代理模型和蒙特卡洛方法进行了可靠性分析和灵敏度分析,确定了影响六自由度工业机器人定位精度的主要因素。Aiming at the problem of the positioning accuracy failure of industrial robots,a reliability analysis method considering the processing errors and assembly errors of the six-degree-of-freedom industrial robots is proposed.The ideal positive kinematics model of a six-degree-of-freedom industrial robot was established through the D-H model,and the error transmission path of each joint’s mating surface was established.Combined with the small displacement spin method (SDT) and the MD-H model,the sixdegree-of-freedom industrial robot was constructed with joint errors.Kinematics model,and use Monte for simulation test.Designed the Latin Hypercube Sampling (LHS) experiment,constructed the Kriging proxy model of the functional function of the six-degree-of-freedom industrial robot,and conducted reliability analysis and sensitivity analysis based on the proxy model and Monte Carlo method,and determined the impact on the six-degree-of-freedom industrial robot The main factor of positioning accuracy.

关 键 词：可靠性 定位精度 Monte-Carlo KRIGING 灵敏度分析 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]