六自由度工业机器人运动可靠性分析  

MOTION RELIABILITY ANALYSIS OF A 6⁃DOF INDUSTRIAL ROBOT

作　　者：李子依 丁力 马瑞 段晋军 LI ZiYi;DING Li;MA Rui;DUAN JinJun(School of Mechanical Engineering,Jiangsu University of Technology,Changzhou 213001,China;College of Mechanical&Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]江苏理工学院机械工程学院,常州213001 [2]南京航空航天大学机电学院,南京210016

出　　处：《机械强度》2024年第4期924-931,共8页Journal of Mechanical Strength

基　　金：国家自然科学基金项目(52375101,52005231,52205017);常州市社会发展科技支撑项目(CE20215050);江苏省(校)研究生实践创新计划项目(XSJCX22_35);江苏高校“青蓝工程”资助。

摘　　要：为评估六自由度工业机器人末端执行器在任务空间中作业的可靠性与精确性,提出了一种基于包络法的机器人运动可靠性分析策略。首先,通过运动学获得机器人系统的误差函数及可靠性模型。其次,采用包络法求解可靠性模型获得末端执行器的失效概率,并通过泰勒公式对误差函数进行线性化处理,同时,在计算过程中排除协方差矩阵中的冗余点,使其符合正定条件,提高包络线的准确性。最后,对所提方法进行了仿真分析,结果表明,包络法相对于蒙特卡洛法的误差为0.5%~19.8%,验证了该方法的有效性。In order to evaluate the reliability and accuracy of the end⁃effector of a six⁃degree⁃of⁃freedom industrial robot in the task space,a robot motion reliability analysis strategy based on the envelope method was proposed.Firstly,the error function and reliability model of the robot system was obtained through kinematics.Secondly,the envelope method was used to solve the reliability model to obtain the failure probability of the end⁃effector,and the error function was linearized by Taylor′s formula,while redundant points in the covariance matrix were excluded in the calculation process to make it conform to the positive definite condition and improve the accuracy of the envelope.Finally,the proposed method was simulated and analyzed.The results show that the error of the envelope method compared with the Monte Carlo method is 0.5%~19.8%,which verifies the effectiveness of the method.

关 键 词：工业机器人 运动可靠性 包络法 正态分布 

分 类 号：TH39[机械工程—机械制造及自动化]