论文部分内容阅读
为解决机械臂运动轨迹可靠性分析的计算效率和精确性难题,提出自更新响应面法分析机械臂运动轨迹可靠性.首先,根据等效极值思想,将机械臂的运动轨迹可靠性转换为运动误差最大时的轨迹点可靠性;其次,基于粒子群优化算法,求解随机输入在不同样本情况下运动误差达到最大时所对应的时间,利用这些数据构建关于时间的Kriging响应面,在可靠性分析过程中,通过该响应面快速预估机械臂运动误差最大时所对应的时间,以此提高计算效率;第三,基于相对均方预估误差建立自更新机制,通过加入新的样本点来提升Kriging响应面的近似精度,确保可靠性分析结果的精确性.最后,通过案例分析验证所提方法的有效性和正确性.
In order to solve the computational efficiency and accuracy of the robot trajectory reliability analysis, the reliability of the trajectory of the robot manipulator is analyzed by using the updated response surface method.First, according to the equivalent extremum theory, the trajectory reliability of the manipulator is converted into Secondly, based on Particle Swarm Optimization (PSO) algorithm, the corresponding time when the motion error is maximized under different sample conditions is solved. Using these data to construct the Kriging response surface with respect to time, In the process of analysis, the response time is used to quickly estimate the time corresponding to the maximum motion error of the manipulator to improve the computational efficiency. Thirdly, a self-updating mechanism is established based on the relative mean square estimation error. By adding new sample points Improve the accuracy of Kriging response surface and ensure the accuracy of the reliability analysis results.Finally, the validity and correctness of the proposed method are verified by case studies.