工业机器人参数容差稳健性设计  

Robust Design of Parameter Tolerance to Industrial Robot

作　　者：吴锦辉[1,2] 张德权 韩旭 WU Jinhui;ZHANG Dequan;HAN Xu(State Key Laboratory of Reliability and Intelligence of Electrical Equipment,Hebei University of Technology,Tianjin 300401;School of Electrical Engineering,Hebei University of Technology,Tianjin 300401;School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401)

机构地区：[1]河北工业大学省部共建电工装备可靠性与智能化国家重点实验室,天津300401 [2]河北工业大学电气工程学院,天津300401 [3]河北工业大学机械工程学院,天津300401

出　　处：《机械工程学报》2023年第11期147-158,共12页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(52105249)。

摘　　要：为降低工业机器人定位精度可靠性对运动学和动力学不确定参数的敏感性,基于工业机器人定位误差信噪比,提出了工业机器人运动学和动力学不确定参数容差稳健性优化设计方法。针对工业机器人动力学方程求解耗时问题,基于径向基函数神经网络建立了工业机器人动力学方程求解过程的代理模型,有效提高了工业机器人定位误差仿真效率。采用遗传算法求解所建立的稳健性优化设计模型,同时还分别以工业机器人定位误差平均值和定位误差信噪比并考虑加工成本为目标函数,对工业机器人不确定参数容差进行了优化设计。最后,以各优化结果作为不确定参数标准差,比较分析了工业机器人定位精度可靠性及定位精度可靠性敏感性,验证了所建立的工业机器人运动学和动力学参数容差稳健性设计方法的有效性。To reduce the sensitivity of positional accuracy reliability to kinematic and dynamic uncertain parameters of industrial robots,a robust optimization design method for kinematic and dynamic uncertain parameter tolerance is established based on the signal-to-noise ratio(SNR)of positional error.Aiming at the time-consuming problem of solving the dynamic equations to industrial robots,an efficient radial basis function neural network surrogate model for solving the dynamic equations of industrial robots is established,which effectively improved the efficiency of positional error simulation of industrial robots.The robust optimization design model is solved by genetic algorithm.Besides,the kinematic and dynamic uncertain parameter tolerance of industrial robots is optimized by taking the mean value of positional error and the SNR and the processing cost as the objective functions.Finally,the optimization results of the above three optimization objective function are treated as standard deviation of uncertain parameters,the positional accuracy reliability and positional accuracy reliability sensitivity of industrial robots are comparative analyzed.The effectiveness of the proposed robust design method of the kinematic and dynamic parameters tolerances for industrial robots is demonstrated.

关 键 词：工业机器人 可靠性分析 稳健性设计 定位误差 可靠性敏感性 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]