一种铆接机械手的运动精度可靠性分析

Reliability Analysis of Kinematic Accuracy for a kind of Riveting Manipulator

介绍了一种六自由度工业机器人的运动精度可靠性分析方法。通过分析一种铆接机械手的结构,基于D-H坐标法,建立运动数学模型,并考虑加工和装配过程中尺寸误差和间隙误差的随机性,将结构参数和运动变量误差视为随机变量,建立运动误差模型,结合机构运动学和可靠性理论,构建机械手运动精度可靠性模型。通过算例,验证了该方法的可行性,为该类型工业机器人的可靠性设计和结构优化提供了一定的理论参考。

A reliability analysis method of kinematic accuracy for a 6-DOF industrial robot was introduced. Kinematic mathematic model was built based on D -H method by analyzing the structure of a riveting manipulator. Considering that all structure and kinematic parameters were independent random variables caused by the random nature of the dimensional tolerance and clearance in manufacturing and assembling operations, kinematic error model was built, and reliability model of kinematic accuracy for the manipulator was built based on mechanism kinematics and reliability theory. The analysis of exam- ple showed that the method is reasonable for reliability analysis of kinematic accuracy, and it provided theory reference for reliability design and structure optimization of same industrial robots.