基于蒙特卡洛法的模型送进机构可靠性分析
|
摘要
为提高风洞模型送进机构误差精度及精度可靠度,提出了一种同时考虑各个D-H关节参数随机误差影响的误差精度可靠度的蒙特卡洛分析方法。首先为模型送进机构建立了D-H坐标系,在此基础上求解了送进机构的运动学方程。然后建立了机构的静态误差模型和机构精度可靠度模型。最后基于该方法研究了关节参数对机构精度误差可靠度的影响。结果表明,基于蒙特卡洛法的机构精度可靠度分析方法能够准确判定对精度可靠度影响较大的变量,为机构的加工、制造和装配提供指导依据。对模型送进机构的进一步研究具有理论价值和工程意义,并对其它类似机构精度可靠度分析具有一定的借鉴意义。
In order to improve the precision and reliability of the mechanism for feeding the wind tunnel model,a Monte Carlo analysis method was proposed to consider the influence of the random error of each D-H joint parameter. First,the D-H coordinate system was established for the model feeding mechanism.On this basis,the kinematic equation of the feeding mechanism was solved. Then the static error model and the mechanism accuracy model of the mechanism were established. Finally,based on this method,the influence of joint parameters on the reliability of the mechanism accuracy error was studied. The results show that the Monte Carlo method-based mechanism accuracy reliability analysis method can accurately determine the variables that have a great influence on the accuracy and reliability,and provide guidance for the processing,manufacturing and assembly of the mechanism. The further study of the model feeding mechanism has theoretical value and engineering significance,and has certain reference significance for the accuracy reliability analysis of other similar institutions.
In order to improve the precision and reliability of the mechanism for feeding the wind tunnel model,a Monte Carlo analysis method was proposed to consider the influence of the random error of each D-H joint parameter. First,the D-H coordinate system was established for the model feeding mechanism.On this basis,the kinematic equation of the feeding mechanism was solved. Then the static error model and the mechanism accuracy model of the mechanism were established. Finally,based on this method,the influence of joint parameters on the reliability of the mechanism accuracy error was studied. The results show that the Monte Carlo method-based mechanism accuracy reliability analysis method can accurately determine the variables that have a great influence on the accuracy and reliability,and provide guidance for the processing,manufacturing and assembly of the mechanism. The further study of the model feeding mechanism has theoretical value and engineering significance,and has certain reference significance for the accuracy reliability analysis of other similar institutions.
引文
[1]张钧.低速风洞试验模型位姿超声测量技术研究[D].重庆:重庆大学,2015.
[2]岁波,都东,陈强,孙振国,等.基于双目视觉的工业机器人运动轨迹准确度检测[J].机械工程学报,2003,39(5):88-91.
[3]张晓瑾.串联机器人位姿精度分析与建模[D].沈阳:东北大学,2012.
[4]徐卫良.连杆机构误差分析的统计模拟法[J].江苏机械,1986(1):7-11.
[5]张秀珩,柳洪义,罗忠.基于旋量理论的打磨机器人位置精度分析[J].机床与液压,2016,44(19):29-33.
[6]李志宏,康信勇,赵翼翔,等.六自由度机械臂位姿误差及可靠性研究[J].机床与液压,2017,45(9):14-17.
[7]费晓光.串联机器人位姿误差的综合分析[D].长春:吉林大学,2009.
[8]徐卫良.机器人机构误差建模的摄动法[J].机器人,1989,3(6):39-44.
[9]王鲁平.串联机器人多误差因素影响下定位精度分析及其误差补偿[D].合肥:合肥工业大学,2015.
[10]徐卫良,张启先.机器人误差分析的蒙特卡洛方法[J].机器人,1988,2(4):1-6.
[2]岁波,都东,陈强,孙振国,等.基于双目视觉的工业机器人运动轨迹准确度检测[J].机械工程学报,2003,39(5):88-91.
[3]张晓瑾.串联机器人位姿精度分析与建模[D].沈阳:东北大学,2012.
[4]徐卫良.连杆机构误差分析的统计模拟法[J].江苏机械,1986(1):7-11.
[5]张秀珩,柳洪义,罗忠.基于旋量理论的打磨机器人位置精度分析[J].机床与液压,2016,44(19):29-33.
[6]李志宏,康信勇,赵翼翔,等.六自由度机械臂位姿误差及可靠性研究[J].机床与液压,2017,45(9):14-17.
[7]费晓光.串联机器人位姿误差的综合分析[D].长春:吉林大学,2009.
[8]徐卫良.机器人机构误差建模的摄动法[J].机器人,1989,3(6):39-44.
[9]王鲁平.串联机器人多误差因素影响下定位精度分析及其误差补偿[D].合肥:合肥工业大学,2015.
[10]徐卫良,张启先.机器人误差分析的蒙特卡洛方法[J].机器人,1988,2(4):1-6.