工程设计学报2018，Vol.25Issue(1)：50-55,6.DOI:10.3785/j.issn.1006-754X.2018.01.007
机器人的运动时变可靠性分析
Time-dependent kinematic reliability analysis of robot manipulators
摘要
Abstract
Uncertainty existing in robot manipulators would decrease the kinematic accuracy,so the modeling and analyzing of time-dependent kinematic uncertainty for robot manipulators were carried out in order to improve the kinematic accuracy.Firstly,the error model of position and pose for reference point of end-effector was established based on kinematic analysis.Then, models of point kinematic reliability and time-dependent kinematic reliability for positional accu-racy and system reliability model for robot manipulators were proposed based on the error model of position and pose.At last,an envelope method with high efficiency and high precision was uti-lized to solve the mentioned reliability models above,and effectiveness of the proposed reliability models and solution method were verified by means of Standford robot.The results showed that the reliability model could effectively obtain the time-dependent reliability of each coordinate com-ponent and system reliability of the robot manipulators.T hus the research provides a new method for improving kinematic accuracy of robot manipulators.关键词
机器人/位置误差/运动精度/运动时变可靠性Key words
robot manipulators/positional error/kinematic accuracy/time-dependent kinematic reliability分类
信息技术与安全科学引用本文复制引用
文瑞桥,杨梦鸥,刘涛,张均富..机器人的运动时变可靠性分析[J].工程设计学报,2018,25(1):50-55,6.基金项目
国家自然科学基金资助项目(51275425) （51275425）
流体及动力机械教育部重点实验室研究基金(西华大学)(JYBFX-YQ-1) （西华大学）
四川省教育厅项目(15TD0016,12ZZ008) （15TD0016,12ZZ008）
西华大学研究生创新基金资助项目(ycjj2016031) （ycjj2016031）
