摘要
针对六轴机器人运动可靠性问题,提出一种基于改进四阶矩估计法的机器人运动可靠性评估方法。首先根据等效极值原则推导六轴机器人的极限状态函数,然后采用改进四阶矩方法对六轴机器人的可靠度进行求解。在理论分析的基础上,引入实例进行了可靠度求解,通过与蒙特卡洛法和四阶矩法的对比,验证了上述改进四阶矩方法的正确性。该研究为后续进行优化设计奠定了理论依据。
This paper proposed an innovative approach to robot motion reliability assessment method based on improved fourth-order moment estimation. Firstly, the limit state function of the six-axis robot is derived according to the principle of equivalent extremum. Then the reliability of the six-axis robot is solved by the improved fourth-order moment method. On the basis of theoretical analysis, the reliability is solved by introducing example. The correctness of the improved fourth-order moment method proposed in this paper is verified by comparison with Monte Carlo method and fourth-order moment method. The research in this paper lays a theoretical foundation for the subsequent optimization design.
作者
吴海淼
陈鹏
崔国华
崔康康
刘健
WU Haimiao;CHEN Peng;CUI Guohua;CUI Kangkang;LIU Jian(College of Mechanical and Equipment Engineering,Hebei University of Engineering,Handan Hebei 056038,China;Intelligent Robot Research and Development Center,Shanghai University of Engineering Science,Shanghai 201620,China)
出处
《机械设计与研究》
CSCD
北大核心
2019年第5期11-14,23,共5页
Machine Design And Research
基金
上海市地方高校能力建设计划资助项目(18030501200)
国家自然科学基金资助项目(51775165)
