Nonlinear Dynamic Reliability Analysis for a Controllable Metamorphic Palletizing Robot

doi:10.3901/JME.2023.11.189

Abstract

Abstract: Metamorphic mechanism has the advantages of multiple configurations. It will inevitably suffer internal impact during configuration transformation, and resonance will occur seriously. Its dynamic reliability is the key to ensure the normal operation of multiple configurations in engineering application. A controllable metamorphic palletizing robot for workpiece handling is taken as the research object. On the basis of establishing the elastic dynamic model of the working process of the robot by using the finite element method, the resonance frequency of the model is obtained by the improved L-P method. Multiple failure modes, uncertain variables and nonlinear vibration factors are considered. An analysis method for nonlinear dynamic reliability is proposed. In case study, the input angle deviations and output load are taken as uncertain variables, and the reliability variation after the configuration transformation of the robot is calculated. The calculated results are compared with those obtained by the neural network-based Monte-Carlo method and experimental data, the deviations are small. It shows that the proposed method has certain accuracy. Furthermore, considering the frequency of internal impact force as an uncertain variable, the range of uncertain variables corresponding to avoiding failure is obtained in the frequency range containing resonance. This work provides a reliability theoretical reference for the practical application of task-oriented metamorphic mechanisms.

Key words: metamorphic mechanism, palletizing robot, dynamic reliability, uncertain variables, nonlinear

CLC Number:

TH113

WANG Rugui, CHEN Huiqing, DONG Yichen. Nonlinear Dynamic Reliability Analysis for a Controllable Metamorphic Palletizing Robot[J]. Journal of Mechanical Engineering, 2023, 59(11): 189-200.

References

[1] DAI J S，JONES J R. Mobility in metamorphic mechanisms of foldable/erectable kinds[J]. Transactions of the ASME:Journal of Mechanical Design，1999，121(3):375-382.
[2] GAN D，DAI J S，LIAO Q. Constraint analysis on mobility change of a novel metamorphic parallel mechanism[J]. Mechanism and Machine Theory，2010，45(12):1864-1876.
[3] 畅博彦，金国光，戴建生. 基于变约束旋量原理的变胞机构构型综合[J]. 机械工程学报，2014，50(5):17-25. CHANG Boyan，JIN Guoguang，DAI Jiansheng. Type synthesis of metamorphic mechanism based on variable constraint screw theory[J]. Journal of Mechanical Engineering，2014，50(5):17-25.
[4] 刘江南，张文博. 变拓扑机构可变运动副设计目录研究[J]. 湖南大学学报，2017，44(10):33-40. LIU Jiangnan，ZHANG Weibo. Study on design catalogue of variable joints of variable topology mechanism[J]. Journal of Hunan University，2017，44(10):33-40.
[5] 王冰，方跃法. 基于球面五杆机构的变胞并联机构构型综合[J]. 机械工程学报，2018，54(19):18-26. WANG Bing，FANG Yuefa. Type synthesis of metamorphic parallel mechanism with spherical five bar linkage[J]. Journal of Mechanical Engineering，2018，54(19):18-26.
[6] JIA G，LI B，HUANG H，et al. Type synthesis of metamorphic mechanisms with scissor-like linkage based on different kinds of connecting pairs[J]. Mechanism and Machine Theory，2020，151:103848.
[7] GAN D，DIAS J. Unified kinematics and optimal design of a 3rRPS metamorphic parallel mechanism with are configurable revolute joint[J]. Mechanism and Machine Theory，2016，96:239-254.
[8] YE W，FANG Y，ZHANG K，et al，Mobility variation of a family of metamorphic parallel mechanisms with reconfigurable hybrid limbs[J]. Robot and computer-integrated Manufacturing，2016，41:145-162.
[9] KANG X，FENG H，DAI J S，et al，High-order based revelation of bifurcation of novel Schatz-inspired metamorphic mechanisms using screw theory[J]. Mechanism and Machine Theory，2020，152:1-18.
[10] WANG R，KANG X，DAI J S. A novel reconfigurable spherical joint based on linear independence of screws and its resultant metamorphic mechanisms[J]. Mechanism and Machine Theory，2021，164:104351.
[11] XU，K，LI L，BAI S，et al. Design and analysis of a metamorphic mechanism cell for multistage orderly deployable/retractable mechanism[J]. Mechanism and Machine Theory，2017，111:85-98.
[12] 贾璞，李端玲，李海源，等. 基于变胞铰链的并联机构结构设计与构型分析[J]. 机械工程学报，2020，56(19):92-102.JIA Pu，LI Duanling，LI Haiyuan，et al. Structural design and configuration analysis of parallel mechanism with metamorphic joint[J]. Journal of Mechanical Engineering，2020，56(19):92-102.
[13] YANG Q，HAO G，LI S，et al. Practical structural design approach of multiconfiguration planar single-loop metamorphic mechanism with a single actuator[J]. Chinese Journal of Mechanical Engineering，2020，33(5):19-33.
[14] JIN G，ZHANG Q，DAI J，et al. Dynamics modeling of metamorphic mechanism[J]. Chinese Journal of Mechanical Engineering，2003，16(1):94-99.
[15] GAN D，DAI J S，DIAS J. Unified inverse dynamics of variable topologies of a metamorphic parallel mechanism using screw theory[J]. ASME:Journal of Mechanical Design，2013，5(3):031004.
[16] 杨世明，金国光，贠今天，等. 变胞机构冲击运动的研究[J]. 中国机械工程，2009，20(13):1608-1612.YANG Shiming，JIN Guoguang，YUN Jintian，et al. Research on impact motion in metamorphic mechanism[J]. Chinese Mechanical Engineering，2009，20(13):1608-1612.
[17] 宋艳艳，畅博彦，金国光，等. 变胞机构构态切换时的冲击问题分析与仿真研究[J]. 机械工程学报，2020，56(17):48-58.SONG Yanyan，CHANG Boyan，JIN Guoguang，et al. Analysis and simulation of impact problem of metamorphic mechanism considering configuration transformation[J]，Journal of Mechanical Engineering，2020，56(17):48-58.
[18] 宋艳艳，金国光，畅博彦，等. 基于综合性能指标的串联变胞机器人冲击性能优化[J]. 机械工程学报，2021，57(23):66-76. SONG Yanyan，CHANG Boyan，JIN Guoguang，et al. Impact performance optimization of serial metamorphic robot based on comprehensive performance index[J]. Journal of Mechanical Engineering，2021，57(23):66-76.
[19] 胡胜海，郭春阳，余伟，等. 基于变胞原理的舰炮装填机构刚-柔耦合动力学建模及误差分析[J]. 兵工学报，2015，36(8):1398-1404.HU Shenghai GUO Changyang，YU Wei，et al. Rigid-flexible coupling dynamic modeling and error analysis of loading mechanism of naval gun based on metamorphic principle[J]. Acta Armamentarii，2015，36(8):1398-1404.
[20] 王汝贵，陈辉庆，戴建生. 新型可控变胞式码垛机器人机构动态稳定性研究[J]. 机械工程学报，2017，53(13):39-47.WANG Rugui，CHEN Huiqing，DAI Jiansheng. Dynamic stability study of a novel controllable metamorphic palletizing robot mechanism[J]. Journal of Mechanical Engineering，2017，53(13):39-47.
[21] RONG Y，ZHANG X C，QU M K. Unified inverse dynamics for a novel class of metamorphic parallel mechanisms[J]. Applied Mathematical Modelling，2019，74:280-300.
[22] 崔允浩，李树军. 变胞机构构态变换可靠性分析模型[J]. 机械与电子，2016，34(1):31-34.CUI Yunhao，LI Shujun. The reliability analysis model of constraint metamorphic mechanism configuration transformation[J]. Machinery and Electronics，2016，34(1):31-34.
[23] 孙本奇，杨强，孙志礼，等. 平面约束变胞机构构态切换能力的概率评估模型[J]. 航空学报，2023，44(4):426843SUN Benqi，YANG Qiang，SUN Zhili，et al. A probabilistic evaluation model for configuration transformation ability of planar constrained metamorphic mechanisms[J]. Acta Aeronautica et Astronautica Sinica，2023，44(4):426843.
[24] 王汝贵，陈辉庆. 变胞机构多失效模式运动可靠性分析与优化[J]. 机械工程学报，2021，57(11):184-194.WANG Rugui，CHEN Huiqing. Analysis and optimization on kinematic reliability of metamorphic mechanisms with multiple failure modes[J]. Journal of Mechanical Engineering，2021，57(11):184-194.
[25] CHEN H，WANG R，DONG Y，et al. Dynamic reliability analysis for configuration transformation of a controllable metamorphic palletizing robot[J]. Proceedings of the Institution of Mechanical Engineers，Part C:Journal of Mechanical Engineering Science，2022，236(10):5208-5222.
[26] 刘胜利，王兴东，孔建益，等. 多源不确定性下平面变胞机构运动可靠性分析[J]. 机械工程学报，2021，57(17):64-75.LIU Shengli，WANG Xingdong，KONG Jianyi，et al. Kinematic reliability analysis of planar metamorphic mechanism with multi-source uncertainties[J]. Journal of Mechanical Engineering，2021，57(17):64-75.
[27] 韩彦彬，白广忱，李晓颖，等. 基于支持向量机柔性机构动态可靠性分析[J]. 机械工程学报，2014，50(11):86-92.HAN Yanbin，BAI Guangchen，LI Xiaoying，et al. Dynaimc reliability analysis of flexible mechanism based on support vector machine[J]. Journal of Mechanical Engineering，2014，50(11):86-92.
[28] 张义民，黄贤振，贺向东. 不完全概率信息牛头刨床机构运动精度可靠性稳健设计[J]. 机械工程学报，2009，45(4):105-110.ZHANG Yimin，HUANG Xianzhen，HE Xiangdong. Reliability-based robust design for kinematic accuracy ofthe shaper mechanism under incomplete probability information[J]. Journal of Mechanical Engineering，2009，45(4):105-110.
[29] WANG L，ZHANG X，ZHOU Y. An effective approach for kinematic reliability analysis of steering mechanisms[J]. Reliability Engineering and System Safety，2018，180:62-76.
[30] ZHAN Z，ZHANG X，ZHANG H，et al. Unified motion reliability analysis and comparison study of planar parallel manipulators with interval joint clearance variables[J]. Mechanism and Machine Theory，2019，138:58-75.
[31] GENG X，LI M，LIU Y，et al. Non-probabilistic kinematic reliability analysis of planar mechanisms with non-uniform revolute clearance joints[J]. Mechanism and Machine Theory，2019，140:413-433.
[32] FEI C，LI H，LIU H，et al. Enhanced network learning model with intelligent operator for the motion reliability evaluation of flexible mechanism[J]. Aerospace Science and Technology，2020，107:106342.
[33] CHEN X，GAO S. Dynamic accuracy reliability modeling and analysis of planar multi-link mechanism with revolute clearances[J]. European Journal of Mechanics - A/Solids，2021，90:104317.
[34] CHANG Q，ZHOU C，WEI P，et al. A new non- probabilistic time-dependent reliability model for mechanisms with interval uncertainties[J]. Reliability Engineering and System Safety，2021，215(6):107771.
[35] 王汝贵，陈辉庆，孙家兴，等. 一种变胞机构式码垛机器人:中国，201711082276.9[P]. 2017-11-07. WANG Rugui，CHEN Huiqing，SUN Jiaxing，et. al. A metamorphic mechanism palletizing robot:China，201711082276.9[P]. 2017-11-07.
[36] 王汝贵，陈辉庆. 一种变胞式码垛机器人:中国，202011042641.5[P]. 2020-09-28.WANG Rugui，CHEN Huiqing. A metamorphic palletizing robot:China，202011042641.5[P]. 2020-09-28.
[37] 张策，黄永强，陈树勋，等. 弹性连杆机构的分析与设计[M]. 北京:机械工业出版社，1997.ZHANG Ce，HUANG Yongqiang，CHEN Shuxun，et al. Analysis and design of elastic linkages[M]. Beijing:China Machine Press，1997.
[38] OWEN D R J，HINTON E. Finite elements in plasticity:Theory and practice[M]. Swansea:Pineridge Press，1980.
[39] JOHN J C. Introduction to robotics:Mechanics and control[M]. New York:Addison-Wesley Publishing Company，1986.
[40] 陈树辉. 强非线性振动系统的定量分析方法[M]. 北京:科学出版社，2007.CHEN Shuhui. Quantitative analysis method for strongly nonlinear vibration systems[M]. Beijing:Science Press，2007.