基于模糊故障树法的清洗机器人安全性研究  

Fuzzy fault tree analysis on safety of robot for wall cleaning

作　　者：李锡江[1] 刘荣[1] 张厚祥[1] 宗光华[1] 

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100083

出　　处：《北京航空航天大学学报》2004年第4期344-348,共5页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家 8 63基金资助项目 ( 2 0 0 1AA42 2 2 80 )

摘　　要：提出用故障树形图分析法来分析机器人安全性 .首先根据机器人设计方案及失效分析建立故障树模型 ,用故障树分析法对此模型进行定性和定量分析 .针对系统底事件和中间事件发生概率情况获取不足的现状 ,将模糊集理论引入故障树分析法 ,将底事件 (基本事件 )发生概率描述为模糊数 。The fault tree analysis for robotics was reviewed. The failure tree mode was set up based on robot design scheme and failure analysis. The property and quality of failure tree model were analyzed on safety of robot for wall cleaning fault tree analysis method. To solve the problem of insufficient failure rate of root and intermediate events, fuzzy theory was introduced. The failure rate of root event was described as fuzzy number. The fuzzy failure rate was calculated according to fuzzy calculation rule.

关 键 词：机器人 安全 故障树形图分析 模糊数 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]