摘要
在搬运机器人折臂机构的运动学分析基础上,文中通过微分法得到机构位姿的误差模型,应用一次二阶矩法(FOSM)对折臂机构在各不确定因素影响下的运动可靠性进行分析,最后采用蒙特卡洛仿真分析方法,验证了一次二阶矩法在分析运动可靠性问题上的准确性。结果分析出了造成搬运机器人折臂机构末端执行器偏差的主要因素,为改进折臂机构的运动精度性能提供了理论依据。
Based on the kinematics analysis of the jib fold mechanism of the handling robot,the error model of the mechanism's position and posture was established by differential method,and the motion reliability of the jib fold mechanism under the influence of various uncertain factors was analyzed by using the first-order second-moment method(FOSM).Finally,the accuracy of the first-order second-moment method in analyzing the motion reliability was verified by Monte Carlo simulation analysis.Main factors causing the deviation of the actuator at the end of the jib fold mechanism of the handling robot were determined,which provides a theoretical basis for improving the motion accuracy of the jib fold mechanism.
作者
薛自然
冯伟
王卫军
熊新红
王世杰
Xue Ziran;Feng Wei;Wang Weijun;Xiong Xinhong;Wang Shijie
出处
《起重运输机械》
2022年第19期8-13,共6页
Hoisting and Conveying Machinery
基金
国家重点研发计划项目(2018YFB1309403)
国家自然科学基金联合基金项目(U1813222)
国家自然科学基金联合基金项目(U20A20283)
广东特支计划科技创新青年拔尖人才(2019TQ05Z654)。
关键词
一次二阶矩法
折臂机构
误差建模
ADAMS
运动可靠性
first-order second-moment method
jib fold mechanism
error modeling
ADAMS
motion reliability
