摘要
机器人的速度精度可靠性对机器人工作性能有较大影响.以串联机械臂及三平动并联平台为例,在机器人运动学模型的基础上,给出了末端执行器速度精度可靠性的概念以及速度精度可靠性的状态函数,进而运用一次二阶矩阵法对机器人末端执行器进行了速度精度可靠度的求解,得出了机器人末端执行器速度精度可靠性随机械臂位移(角位移)的变化规律.在对可靠性分析的基础上,运用可靠性灵敏度算法得出相关随机变量的可靠性灵敏度变化规律.通过对机器人进行任意位置的可靠性分析,可为合理规划机器人工作区域提供理论依据.
The speed accuracy reliability of robot has a great influence on the performance of the robot.Taking serial manipulator and tri-translational parallel mechanism platform for example,the concept of the speed accuracy reliability of the end effector and the state function of speed accuracy reliability is presented on the basis of the kinematics model of robot.Then the speed accuracy reliability of the robot is solved by using the first-order second-moment method.At the same time,the changing law of the speed accuracy reliability of the robot varying with the displacement (angular displacement) of the robot arms is given out.On the basis of the analysis of the reliability,the reliability sensitivity algorithm is used to figure out the changing law of the reliability sensitivity of correlated random variables.Through the analysis of the reliability of arbitrary position of the robot,it can provide theoretical basis for planning robot work area reasonably.
作者
王海芳
皇甫一樊
张恒
褚天争
WANG Haifang;HUANGFU Yifan;ZHANG Heng;CHU Tianzheng(College of Control Engineering,Northeastern University at Qinhuangdao,Qinhuangdao 066004,Hebei,China)
出处
《中国工程机械学报》
北大核心
2019年第2期166-171,共6页
Chinese Journal of Construction Machinery
基金
国家自然科学基金资助项目(51475086)
河北省自然科学基金资助项目(E2012407010)
秦皇岛科技支撑资助项目(201501B011)
关键词
机器人
速度精度
可靠性
一次二阶矩法
灵敏度
robot
speed accuracy
reliability
first-order second-moment method
sensitivity
