• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2021, Vol. 57 ›› Issue (17): 64-75.doi: 10.3901/JME.2021.17.064

• 特邀专栏:智能制造前沿及应用 • 上一篇    下一篇

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多源不确定性下平面变胞机构运动可靠性分析

刘胜利1, 王兴东1, 孔建益1, 曾婷2, 唐伟1   

  1. 1. 武汉科技大学冶金装备及其控制教育部重点实验室 武汉 430081;
    2. 中国航天科技集团公司北京卫星制造厂 北京 100080
  • 收稿日期:2021-01-10 修回日期:2021-05-20 发布日期:2021-11-16
  • 通讯作者: 唐伟(通信作者),男,1986年出生,博士,讲师。主要研究方向为机构学与机器人学。E-mail:tangwei@wust.edu.cn
  • 作者简介:刘胜利,男,1995年出生,博士研究生。主要研究方向为机构学与机器人学。E-mail:2437389188@qq.com
  • 基金资助:
    国家自然科学基金(51875418)、国家自然科学基金联合基金(U1737207)和武汉科技大学国防预研基金(GF201906)资助项目。

Kinematic Reliability Analysis of Planar Metamorphic Mechanism with Multi-source Uncertainties

LIU Shengli1, WANG Xingdong1, KONG Jianyi1, ZENG Ting2, TANG Wei1   

  1. 1. Key Laboratory of Metallurgical Equipment and Control Technology, Wuhan University of Science and Technology, Wuhan 430081;
    2. Beijing Spacecrafts, China Aerospace Science and Technology Corporation, Beijing 100080
  • Received:2021-01-10 Revised:2021-05-20 Published:2021-11-16

摘要: 变胞机构可根据环境和工况的变化及需求,进行重组和重构,在机器人领域得到广泛应用。变胞机构可变拓扑结构特性,使得分析多源不确定性下变胞机构全构态运动可靠性更为困难。以多源不确定性下平面五杆变胞机构为研究对象,提出一种适应交变温度工况的变胞机构全构态运动可靠性分析方法。建立温度载荷下连杆制造公差-热变形、关节配合公差-热变形的耦合模型,采用服从截断正态分布的随机参数和区间参数描述连杆尺寸、转动副和移动副间隙的不确定性,基于变胞特性建立变胞机构全构态运动误差传递模型,结合区间优化算法和蒙特卡洛算法建立多源不确定性下变胞机构全构态运动可靠性模型。基于提出的方法,分析了交变温度工况下变胞机构全构态运动可靠性分布规律,并分析了不同孔轴配合、连杆公差等级及其热膨胀系数对变胞机构全构态运动可靠性的影响规律。

关键词: 平面变胞机构, 多源不确定性, 交变温度, 运动可靠性

Abstract: Metamorphic mechanism can reorganize and reconstruct itself according to the changes and needs of environment and working conditions, and it has been widely used in the field of robot. The variable topological structure of metamorphic mechanism makes it more difficult to analyze the reliability of full configuration motion of metamorphic mechanism under multi-source uncertainty. A method for reliability analysis of planar five-bar metamorphic mechanism under multiple source uncertainties is presented. The coupling model of link manufacturing tolerance, joint tolerance and thermal deformation is set up under the temperature load, adopting obey truncated normal distribution random parameters and interval parameters to describe the length of link, the uncertainty of the clearance of revolute and prismatic, combined with the metamorphic characteristics to establish full-configuration motion error transfer model, based on interval method and Monte Carlo method, establishing full-configuration motion reliability model with multi-source uncertainties. Based on the proposed method, the kinematic reliability distribution law of the configuration-complete and sub-configuration of the metamorphic mechanism under alternating temperature conditions was analyzed, and the influence law of different joint hole shaft fit, connecting rod tolerance grade and thermal expansion coefficient on the kinematic reliability of the metamorphic mechanism is analyzed.

Key words: planar metamorphic mechanism, multi-source uncertainties, alternating temperature, kinematic reliability

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