基于PCE的谐波减速器动态精度不确定性分析

Dynamic accuracy uncertainty analysis of harmonic reducer based on PCE

谐波减速器的动态精度不仅与其各个部件的制造公差和装配间隙有关,还必须考虑谐波减速器柔性和摩擦的影响。目前谐波减速器精度问题研究大多只考虑单一因素,在进行精度分析时没有考虑到模型参数的不确定性对精度的影响。本文研究了谐波减速器在静态因素(加工、装配)和动力学因素(柔性、摩擦)综合作用下的动态精度问题;建立了考虑静态误差、柔性的非线性动力学模型;利用多项式混沌展开(PCE)方法进行参数灵敏度分析和不确定性分析,并和Monte Carlo方法作了比较,结果表明PCE方法效率更高。并基于动态精度PCE进行可靠性分析,得到动态精度可靠度。

The dynamic accuracy of the harmonic reducer is related to the parts＇ tolerance and assembly clearance as well as the flexibility and friction of the harmonic reducer. Most of the published literatures consider only a single factor and do not take into account the influence of model parameter uncertainty. In this paper,the dynamic accuracy is researched considering static factors（machining and assembly） and dynamic characteristics（flexibility and friction）. The nonlinear dynamic model is established,which contains static error and flexibility term. Polynomial chaos expansion（PCE） is used to handle the parameter sensitivity and uncertainty. By comparison,PCE is more efficient than Monte Carlo. Dynamic accuracy reliability is finally obtained through reliability analysis based on dynamic accuracy PCE.