基于包络法的冗余机器人运动可靠性

doi:10.12382/bgxb.2021.0308

兵工学报 ›› 2022, Vol. 43 ›› Issue (6): 1426-1434.doi: 10.12382/bgxb.2021.0308

基于包络法的冗余机器人运动可靠性

丁力¹，谷加辉¹，周金宇²，康绍鹏¹，陈逸飞¹，李子依¹

(1.江苏理工学院机械工程学院，江苏常州 213001； 2.金陵科技学院机电工程学院，江苏南京 211169)

上线日期:2022-03-23
作者简介:丁力(1989—)，男，副教授，硕士生导师。 E-mail： nuaadli@163.com
基金资助:
国家自然科学基金项目(52005231)；常州市科技支撑计划（社会发展）项目资助（CE20215050、CE20209002）；江苏省高等学校自然科学研究项目资助（20KJB580005）

Kinematic Reliability Analysis for Redundant Robots Based on Envelope Method

DING Li¹， GU Jiahui¹， ZHOU Jinyu²， KANG Shaopeng¹， CHEN Yifei¹， LI Ziyi¹

(1.School of Mechanical Engineering，Jiangsu University of Technology，Changzhou 213001，Jiangsu，China；2.School of Mechanical and Electrical Engineering，Jinling Institute of Technology，Nanjing 211169，Jiangsu，China)

Online:2022-03-23

摘要/Abstract

摘要： 为研究7自由度冗余机器人中连杆长度、连杆偏距及关节角对末端执行器运动可靠性的影响，提出一种基于包络法的运动可靠性分析方法。在获得机器人运动学误差函数的基础上，通过1阶泰勒公式将其线性化处理，并采用概率法得到末端执行器位置和姿态的失效模型。采用包络法将时变运动可靠性问题转换成时不变运动可靠性问题，找到轨迹中失效概率最大的点，引入协方差矩阵解析失效极值点与端点之间的内在关系，以多维正态积分计算得到机器人运动可靠度。通过仿真算例对所提方法的有效性进行验证。结果表明：包络法获得的结果与蒙特卡洛法的求解结果基本吻合，求解效率得到了较大的提升；与等效极值法相比，包络法的求解精度较高、鲁棒性较好。

关键词: 冗余机器人, 运动可靠性, 包络法, 概率法

Abstract: A kinematic reliability analysis method based on envelope method is proposed for the research on the kinematic reliability of end-effector of 7 degree-of-freedom redundant robots subjected to the link length，link offset and joint angle. The deduced kinematic error functions of the robot are linearized by the first-order Taylor formula. A failure model of position and pose of end-effector is obtained by the probabilistic method. The time-varying kinematic reliability problem can be transformed into time-invariant kinematic reliability problem by the envelope method. The point of the greatest failure probability in the trajectory is found，and the internal relationship between the maximum failure point and the end point is analyzed by introducing covariance matrix. The kinematic reliability of the robot is calculated by multidimensional normal integration. Finally，a simulation case is conducted to verify the proposed method. The results show that the results obtained by the envelope method agree with those obtained by the Monte Carlo method，but the efficiency of the solution is greatly improved. Compared with the equivalent extremum method，the envelope method has higher accuracy and better robustness.

Key words: redundantrobot, kinematicreliability, envelopemethod, probabilisticmethod

中图分类号:

TP242

丁力，谷加辉，周金宇，康绍鹏，陈逸飞，李子依. 基于包络法的冗余机器人运动可靠性[J]. 兵工学报, 2022, 43(6): 1426-1434.

DING Li， GU Jiahui， ZHOU Jinyu， KANG Shaopeng， CHEN Yifei， LI Ziyi. Kinematic Reliability Analysis for Redundant Robots Based on Envelope Method[J]. Acta Armamentarii, 2022, 43(6): 1426-1434.

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基于包络法的冗余机器人运动可靠性

Kinematic Reliability Analysis for Redundant Robots Based on Envelope Method

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