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Motion Reliability Analysis of 6-DOF Industrial Robot
参考中译:6自由度工业机器人运动可靠性分析


     

文集名：Advances in Mechanical Design - The Proceedings of the 2023 International Conference on Mechanical Design (ICMD 2023)
作者：Ding Li（College of Mechanical Engineering, Jiangsu University of Technology）
Li Ziyi（College of Mechanical Engineering, Jiangsu University of Technology）
会议名：2023 International Conference on Mechanical Design (ICMD 2023)
会议日期：20-22 October 2023
会议地点：Chengdu, China
出版年：2024
页码：1457-1474
总页数：18
馆藏号：353199
分类号：TH11-53/I61/(2023-v.3)
关键词：Robot end-effectors；Movement reliability；Envelope method；Normal distribution
参考中译：机器人末端操纵器;运动可靠性;包封法;正态分布
语种：eng
文摘：To evaluate the accuracy of human-robot interaction, proposed a strategy to calculate the reliability of the motion of the end-effector of a 6-DOF industrial robot in the task space. The envelope method is introduced to analyze the reliability model, which is based on the principle of expressing the envelope function generated by the motion error of the end-effector in a segmented hyperplane approximation, transforming the time-dependent reliability problem into a time-independent reliability problem, and linearizing the error function using Taylor's formula, while eliminating redundant points in the covariance matrix in the calculation process, so that it satisfies the positive definite condition, and improves the envelope accuracy. The simulation example shows that the method has good efficiency and accuracy in reliability model analysis.
参考中译：为了评估人与机器人交互的准确性，提出了一种计算6自由度工业机器人末端操纵器在任务空间中运动可靠性的策略。引入包线法来分析可靠性模型，该模型基于将末端效应器运动误差产生的包线函数以分段超平面逼近形式表达，将时间相关可靠性问题转化为时间无关可靠性问题，并利用泰勒公式线性化误差函数，同时在计算过程中消除协方差矩阵中的多余点，使其满足正定性条件，提高了信封精度。仿真实例表明，该方法在可靠性模型分析中具有良好的效率和准确性。

注：参考中译为机器自动翻译，仅供参考。



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