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将Lagrange方程和假设模态法相结合建立了考虑关节处摩擦的双连杆柔性机械臂的动力学模型。考虑随机因素的影响,将随机因子法的处理方式引入随机响应面法中,提出一种处理多输入随机参数的双连杆柔性机械臂系统可靠性分析方法,并分别建立了系统强度、刚度和运动功能的功能函数。通过算例验证了该文模型和方法的合理性和可行性,同时预测了系统的可靠度。研究结果表明,同可靠性分析的Monte-Carlo法相比,该方法对双连杆柔性机械臂的可靠性分析具有良好的精度和效率,在取相同变异系数的情况下,几何参数对系统可靠度的影响较大。
The kinematic model of a two-link flexible manipulator considering joint friction was established by combining the Lagrange equation with the assumed modal method. Considering the influence of random factors, the stochastic factor method is introduced into the stochastic response surface method. A reliability analysis method of two-link flexible manipulator system with multi-input stochastic parameters is proposed. The system strength, stiffness and Function of motor function. An example is given to verify the rationality and feasibility of the proposed model and method, and to predict the reliability of the system. The results show that compared with the Monte-Carlo method for reliability analysis, this method has good accuracy and efficiency in the reliability analysis of the two-link flexible manipulator. In the case of taking the same coefficient of variation, The impact of larger.