桁架机器人可靠性分析及刚柔耦合动态特性研究

发布时间：2018-03-26 15:28

本文选题：桁架机器人　切入点：可靠性分析　出处：《合肥工业大学》2017年硕士论文

【摘要】：随着劳动力成本上升和资源的日益匮乏,提倡高效环保的智能制造和绿色制造成为制造业未来的发展趋势。机器人作为智能制造的重要组成部分,逐渐替代人类完成各种复杂任务和重要工作,这就对机器人可靠性提出了更高的要求。本课题来源于“十二五”国家级实验教学示范中心建设项目,以桁架机器人为研究对象,对影响机器人可靠性的诸多因素进行研究。(1)就如何确定各机械故障对机器人可靠性的影响程度,进行了机器人可靠性预计,对机械零部件的失效模式及影响进行分析,引入模糊层次分析法和熵值法分别得到各机械故障的主观权重和客观权重,并进行重要性排序。(2)针对机器人可靠性影响因素进行综合评价,基于最小偏差法得到组合权重,以此确定系统的薄弱环节并提出相应的故障检修顺序,对可靠性影响因素进行数字仿真和敏感性分析。(3)研究运行过程中工作速度和负载对机器人动态特性的影响,对典型位置下的机器人进行模态分析,构建机器人刚柔耦合模型,采用控制变量法进行工作速度和负载变化下的动力学仿真,分析和比较两者对机器人末端振动的影响。(4)进一步展开机器人系统动力学特性实验,采集实验数据进行时域和频域分析,得到工作速度和负载变化情况下的机器人动力学特性,以及影响其正常运行的主要频率及幅值,为选择合适的工作速度和负载,提高机器人可靠性提供参考依据。
[Abstract]:With the rising labor cost and the increasing scarcity of resources, the promotion of efficient and environmentally friendly intelligent manufacturing and green manufacturing has become the future development trend of manufacturing. Robot as an important part of intelligent manufacturing, Taking the place of human being to complete all kinds of complex tasks and important work gradually, this paper puts forward higher requirements for the reliability of robot. This subject comes from the construction project of the 12th Five-Year Plan National Experimental Teaching demonstration Center, which takes truss robot as the research object. This paper studies many factors that affect the reliability of the robot. (1) on how to determine the degree of influence of each mechanical fault on the reliability of the robot, the reliability prediction of the robot is carried out, and the failure mode and influence of the mechanical parts are analyzed. Fuzzy analytic hierarchy process (FAHP) and entropy method are introduced to get subjective and objective weights of each mechanical fault respectively, and importance ranking is carried out. (2) Comprehensive evaluation of the factors affecting the reliability of robot is carried out, and the combined weight is obtained based on the minimum deviation method. Based on this, the weak link of the system is determined and the corresponding fault repair sequence is put forward. The factors affecting the reliability are simulated and sensitivity analysis. 3) the influence of the working speed and load on the dynamic characteristics of the robot is studied. The modal analysis of the robot in typical position is carried out, and the rigid-flexible coupling model of the robot is constructed. The control variable method is used to simulate the dynamics of the robot under the change of working speed and load. This paper analyzes and compares the effects of the two methods on the vibration at the end of the robot. (4) the dynamic characteristics of the robot system are further carried out, and the dynamic characteristics of the robot are obtained by collecting the experimental data in the time domain and frequency domain, and obtaining the dynamic characteristics of the robot under the condition of changing the working speed and load. The main frequencies and amplitudes which affect the normal operation of the robot provide a reference for selecting the appropriate working speed and load and improving the reliability of the robot.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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