摘要
针对双臂协作机器人精度要求高、工作状态难采样的特性,基于二次四阶矩估计法提出一种双臂协作机器人可靠性分析模型,对机器人位置误差进行分析。利用极值分布原理将系统转换为串联系统,采用随机变量的各阶矩得出极限状态函数的各阶矩;通过最佳平方逼近方法确定极限状态函数的概率密度函数,从而实现单机械臂的可靠度求解,再采用体系可靠性方法对双臂协作机器人的可靠度进行求解。最后,以六自由度双臂协作机器人为例进行分析,通过与蒙特卡洛仿真比较,验证了该方法的有效性。
Aiming at the characteristics of high precision requirement and difficult sampling in the working state of dual-arm cooperative robot,a reliability analysis model of dual-arm cooperative robot was proposed based on quadratic fourth-order moment estimation method for the analysis of robot position error.The system was transformed into a series system by using extreme value distribution principle,and each order moment of limit state function was obtained by using each order moment of random variables.The probability density function of limit state function was determined by the best square approximation method,so that the reliability of single manipulator can be solved.The system reliability method was used to solve the reliability of the dual-arm cooperative robot.Finally,taking the 6-DOF dual-arm cooperative robot as an example,the effectiveness of this method is verified by comparing with Monte Carlo simulation.
作者
解磊磊
吴海淼
崔国华
曹雪山
XIE Leilei;WU Haimiao;CUI Guohua;CAO Xueshan(Collage 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
《机床与液压》
北大核心
2022年第17期32-37,共6页
Machine Tool & Hydraulics
基金
河北省重点研发计划项目(19211815D)。
关键词
双臂协作机器人
可靠性
二次四阶矩
概率密度函数
Dual-arm cooperative robot
Reliability
Quadratic fourth-order moment
Probability density function
