轴孔磨损影响下的机械臂到位精度可靠性分析  

Reliability Analysis of Positioning Accuracy in Robotic ArmsAffected by Shaft Hole Wear

作　　者：刘太素 刘袁 郝飞[1] 景晓谊 LIU Taisu;LIU Yuan;HAO Fei;JING Xiaoyi(School of Mechanical Engineering,Nanjing Institute of Technology,Nanjing 211167,China)

机构地区：[1]南京工程学院机械工程学院,江苏南京211167

出　　处：《南京工程学院学报(自然科学版)》2024年第4期60-66,共7页Journal of Nanjing Institute of Technology(Natural Science Edition)

基　　金：江苏省高等学校基础科学(自然科学)研究重大项目(23KJA460009);南京工程学院科研启动基金项目(YKJ202104)。

摘　　要：针对某协调机械臂运动副磨损导致机构到位精度下降的问题,建立机械臂轴孔磨损可靠性分析模型.首先,建立协调机械臂刚柔耦合动力学模型;其次,利用Archard磨损模型计算轴孔磨损深度,并通过试验测试得到磨损系数及磨损深度随机构运动次数的变化规律;最后,建立机械臂协调到位的可靠性模型,并通过蒙特卡洛方法求解其到位可靠度.计算结果表明,当机械臂运动副轴孔磨损循环约16000次时,机械臂协调到位可靠度降至98%以下,从而引起机构动作失效.本研究结果可为提高机械臂的可靠性提供理论参考.A reliability analysis model was established to address the issue of wear of the arm's shaft holes,in response to the challenge of diminished positioning accuracy in a coordinated robotic arm,attributed to wear in its motion pairs.Firstly,a rigid flexible coupling dynamic model of the coordinated robotic arm was developed.Secondly,the Archard wear model was employed to calculate the wear depth of the shaft holes.The wear coefficient was determined through the experimental tests,along with the analysis of variation pattern of wear depth in relation to operational cycles.Finally,a reliability model for coordinated positioning of the robotic arm was constructed,and its positioning reliability was evaluated using Monte Carlo method.The calculation results indicated that the reliability of coordinated positioning decreased to below 98%after approximately 16000 cycles of operation in the motion pair shaft holes,leading to potential failures in system functionality.The research results provided theoretical insights for improving the reliability of robotic arms.

关 键 词：协调机械臂 磨损 可靠性分析 

分 类 号：TB114.3[理学—概率论与数理统计]