含间隙球面4R机构运动区间可靠性分析  

Kinematic interval reliability analysis of spherical 4R mechanism with joint clearances

作　　者：董浩哲 王兴东[1] 刘胜利 张林 DONG Haozhe;WANG Xingdong;LIU Shengli;ZHANG Lin(School of Machinery and Automation,Wuhan University of Science and Technology,Wuhan 430081,Hubei,China)

机构地区：[1]武汉科技大学机械自动化学院,湖北武汉430081

出　　处：《农业装备与车辆工程》2024年第1期109-113,共5页Agricultural Equipment & Vehicle Engineering

基　　金：国家自然科学基金资助项目(51875418)。

摘　　要：为分析转动副间隙对球面4R机构运动精度的影响,提出一种球面机构输出角位移误差区间可靠性分析方法。分析转动副间隙对球面4R机构实际位姿的影响,基于D-H参数,将机构参数的1阶微分表示为运动副间隙造成的误差,使用环路增量法建立机构角位移输出精度分析模型。针对球面4R机构单周期运动,阐述了机构运动区间可靠性与机构角位移输出误差的数学关系;结合极值法建立球面4R机构区间可靠性分析模型,计算得到了球面4R机构运动区间可靠度;蒙特卡洛仿真结果作为评价可靠度计算的标准值,最后结合球面4R机构可靠性分析实例验证了所提分析方法的有效性。In order to analyze the influence of the joints clearances on the kinematic accuracy of the spherical 4R mechanism,an interval reliability analysis method of the output angular displacement error of the spherical mechanism was proposed.The influence of the joints clearances on the actual position and attitude of the spherical 4R mechanism was analyzed.Based on the D-H parameters,the firs-torder differential of the mechanism parameters was expressed as the error caused by the joints clearances,and the analytical model of the angular displacement output accuracy of the mechanism was established using the loop circuit incremental method.Aiming at the single-cycle motion of spherical 4R mechanism,the mathematical relationship between the motion reliability of the mechanism and the angular displacement output accuracy of the mechanism was expounded,and the interval reliability analysis model of spherical 4R mechanism was established by combining extremum method,and the interval motion reliability of spherical 4R mechanism was calculated.The Monte Carlo simulation results were used as the standard values for evaluating the reliability calculation.Finally,the effectiveness of the proposed method was verified by the reliability analysis example of spherical 4R mechanism.

关 键 词：球面4R机构 转动副间隙 D-H参数 运动可靠性 

分 类 号：TH112[机械工程—机械设计及理论]