协作机器人机构运动可靠性研究

The Research on Motion Reliability of Collaborative Robot Mechanism

机构在运动过程中受到多种随机因素的影响。为提高机构运动可靠性,在设计之初对其进行运动可靠性评估十分重要。基于D H法和有限元法建立协作机器人机构误差模型,使用四阶矩法建立机构运动可靠性模型,基于包络函数法建立机构运动区间可靠性模型,使用ADAMS建立含间隙刚柔耦合参数化模型,利用ADAMS/insight对协作机器人进行运动可靠性仿真,并计算9s内的运动可靠度。通过和蒙特卡洛仿真(M CS)对比,证明了四阶矩法和包络函数法在分析运动可靠性问题上的优势。

The organization is affected by a variety of random factors during the exercise.In order to improve the motion reliability of the mechanism,it is very important to evaluate the motion reliability at the beginning of design.The error model of collaborative robot mechanism is established based on D H method and finite element method.The fourth order moment method is used to establish the mechanism motion reliability model.The reliability model of mechanism motion interval is established based on envelope function method.The model of rigid flexible coupling parameterization with clearance is established by using ADAMS.Motion reliability simulation of collaborative robot was made with ADAMS/insight.And calculate the motion reliability within 9 s.Compared with Monte Carlo simulation(MCS).The advantages of the fourth moment method and the envelope function method in the analysis of motion reliability are proved.