基于非概率区间理论的工业机器人运动可靠性研究

Evaluation of Industrial Robot Motion Reliability Based on Non-Probability Interval Theory

由于受到制造误差、装配误差、工作磨损以及关节间隙等因素的影响,机器人连杆参数通常表现出非概率性,导致无法预测其真实的概率分布。文中采用区间理论对机器人连杆参数进行分析;然后,基于非概率区间理论建立了工业机器人末端位姿误差模型以及机器人运动可靠度评估模型;最后,引入实例进行分析,得到在设定运动轨迹下机器人末端执行器的运动可靠度变化情况,并通过与蒙特卡洛法模拟结果进行对比,验证了所采用的运动可靠性评估方法的准确性,该研究为后续进行工业机器人的连杆优化设计奠定了基础。

Due to factors such as manufacturing errors,assembly errors,work wear,and joint gaps,the connecting rod parameters of the robot usually show non-probability,which makes it impossible to predict the true probability distribution.The interval method can be used to analyze non-probabilistic parameters.In this paper,based on the non-probability interval theory,an end robot pose error model and an evaluation model of robot motion reliability are established.On this basis,an example is introduced for analysis to obtain the change of the motion reliability of the robot end effector in the set motion trajectory.By comparing with the Monte Carlo simulation results,the motion reliability evaluation method adopted in this paper is verified,and the research in this paper lays the foundation for the subsequent optimization design of the connecting rod of industrial robots.