CAJ | 학술논문

介绍了一种六自由度工业机器人的运动精度可靠性分析方法。通过分析一种铆接机械手的结构，基于D-H 坐标法，建立运动数学模型，并考虑加工和装配过程中尺寸误差和间隙误差的随机性，将结构参数和运动变量误差视为随机变量，建立运动误差模型，结合机构运动学和可靠性理论，构建机械手运动精度可靠性模型。通过算例，验证了该方法的可行性，为该类型工业机器人的可靠性设计和结构优化提供了一定的理论参考。
개소료일충륙자유도공업궤기인적운동정도가고성분석방법。통과분석일충류접궤계수적결구，기우D-H 좌표법，건립운동수학모형，병고필가공화장배과정중척촌오차화간극오차적수궤성，장결구삼수화운동변량오차시위수궤변량，건립운동오차모형，결합궤구운동학화가고성이론，구건궤계수운동정도가고성모형。통과산례，험증료해방법적가행성，위해류형공업궤기인적가고성설계화결구우화제공료일정적이론삼고。
A reliability analysis method of kinematic accuracy for a 6-DOF industrial robot was introduced.Kinematic mathematic model was built based on D-H method by analyzing the structure of a riveting manipulator.Considering that all structure and kinematic parameters were independent random variables caused by the random nature of the dimensional toler-ance and clearance in manufacturing and assembling operations,kinematic error model was built,and reliability model of ki-nematic accuracy for the manipulator was built based on mechanism kinematics and reliability theory.The analysis of exam-ple showed that the method is reasonable for reliability analysis of kinematic accuracy,and it provided theory reference for reliability design and structure optimization of same industrial robots.