发动机舱软管系检测系统精度分析与仿真  

Accuracy analysis and simulation of engine compartment hose line inspection system

作　　者：刘海江[1] 李涛旭 徐泽宇 LIU Haijiang;LI Taoxu;XU Zeyu(School of Mechanical Engineering,Tongji University,Shanghai 201804,China)

机构地区：[1]同济大学机械与能源工程学院,上海201804

出　　处：《中国工程机械学报》2024年第4期523-527,533,共6页Chinese Journal of Construction Machinery

摘　　要：针对发动机舱软管系振动干涉检测系统中工业机器人基坐标系和发动机坐标系不统一的问题,基于空间坐标转换原理提出了多目标归一化算法。在模拟振动时,该系统由于试验操作误差,不能准确运动到设定位置的精度,基于蒙特卡罗模拟的数值仿真方法分析检测系统的精度。以多目标归一化算法为基础构建精度模型,使用计算机进行蒙特卡罗模拟试验分析各操作环节对系统精度的影响,并从操作方面提出提高系统精度的补偿措施。仿真结果表明:车身标定环节误差放大倍数为78,测量块标定环节误差放大倍数为22,末端执行器(TCP)标定环节误差放大倍数为20,采取对同一点多次测量的方法可以提高试验成功率。The multi-objective normalization algorithm is proposed for the problem that the industrial robot base coordinate system and the engine coordinate system are not unified in the engine compartment hose system vibration interference detection system.In the simulation of vibration,the system cannot accurately move to the accuracy of the set position due to the test operation error,this paper proposes a numerical simulation method based on Monte Carlo simulation to analyze the accuracy of the detection system.This paper uses computer simulation to analyze the influence of each operation link on the system accuracy,and proposes compensation measures to improve the system accuracy from the operation aspect.The simulation results show that the precision factors of each link are 78 for the body calibration link,22 for the measurement block calibration link,and 20 for the tool center point(TCP)calibration link.Taking multiple measurements of the same point can improve the success rate of the test.

关 键 词：多目标归一化算法 工业机器人 测量精度 误差分析 蒙特卡罗模拟 

分 类 号：U464[机械工程—车辆工程]