本文選題：桁架機(jī)器人　切入點(diǎn)：可靠性分析　出處：《合肥工業(yè)大學(xué)》2017年碩士論文

【摘要】：隨著勞動(dòng)力成本上升和資源的日益匱乏,提倡高效環(huán)保的智能制造和綠色制造成為制造業(yè)未來的發(fā)展趨勢(shì)。機(jī)器人作為智能制造的重要組成部分,逐漸替代人類完成各種復(fù)雜任務(wù)和重要工作,這就對(duì)機(jī)器人可靠性提出了更高的要求。本課題來源于“十二五”國家級(jí)實(shí)驗(yàn)教學(xué)示范中心建設(shè)項(xiàng)目,以桁架機(jī)器人為研究對(duì)象,對(duì)影響機(jī)器人可靠性的諸多因素進(jìn)行研究。(1)就如何確定各機(jī)械故障對(duì)機(jī)器人可靠性的影響程度,進(jìn)行了機(jī)器人可靠性預(yù)計(jì),對(duì)機(jī)械零部件的失效模式及影響進(jìn)行分析,引入模糊層次分析法和熵值法分別得到各機(jī)械故障的主觀權(quán)重和客觀權(quán)重,并進(jìn)行重要性排序。(2)針對(duì)機(jī)器人可靠性影響因素進(jìn)行綜合評(píng)價(jià),基于最小偏差法得到組合權(quán)重,以此確定系統(tǒng)的薄弱環(huán)節(jié)并提出相應(yīng)的故障檢修順序,對(duì)可靠性影響因素進(jìn)行數(shù)字仿真和敏感性分析。(3)研究運(yùn)行過程中工作速度和負(fù)載對(duì)機(jī)器人動(dòng)態(tài)特性的影響,對(duì)典型位置下的機(jī)器人進(jìn)行模態(tài)分析,構(gòu)建機(jī)器人剛?cè)狁詈夏Ｐ?采用控制變量法進(jìn)行工作速度和負(fù)載變化下的動(dòng)力學(xué)仿真,分析和比較兩者對(duì)機(jī)器人末端振動(dòng)的影響。(4)進(jìn)一步展開機(jī)器人系統(tǒng)動(dòng)力學(xué)特性實(shí)驗(yàn),采集實(shí)驗(yàn)數(shù)據(jù)進(jìn)行時(shí)域和頻域分析,得到工作速度和負(fù)載變化情況下的機(jī)器人動(dòng)力學(xué)特性,以及影響其正常運(yùn)行的主要頻率及幅值,為選擇合適的工作速度和負(fù)載,提高機(jī)器人可靠性提供參考依據(jù)。
[Abstract]:With the rising labor cost and the increasing scarcity of resources, the promotion of efficient and environmentally friendly intelligent manufacturing and green manufacturing has become the future development trend of manufacturing. Robot as an important part of intelligent manufacturing, Taking the place of human being to complete all kinds of complex tasks and important work gradually, this paper puts forward higher requirements for the reliability of robot. This subject comes from the construction project of the 12th Five-Year Plan National Experimental Teaching demonstration Center, which takes truss robot as the research object. This paper studies many factors that affect the reliability of the robot. (1) on how to determine the degree of influence of each mechanical fault on the reliability of the robot, the reliability prediction of the robot is carried out, and the failure mode and influence of the mechanical parts are analyzed. Fuzzy analytic hierarchy process (FAHP) and entropy method are introduced to get subjective and objective weights of each mechanical fault respectively, and importance ranking is carried out. (2) Comprehensive evaluation of the factors affecting the reliability of robot is carried out, and the combined weight is obtained based on the minimum deviation method. Based on this, the weak link of the system is determined and the corresponding fault repair sequence is put forward. The factors affecting the reliability are simulated and sensitivity analysis. 3) the influence of the working speed and load on the dynamic characteristics of the robot is studied. The modal analysis of the robot in typical position is carried out, and the rigid-flexible coupling model of the robot is constructed. The control variable method is used to simulate the dynamics of the robot under the change of working speed and load. This paper analyzes and compares the effects of the two methods on the vibration at the end of the robot. (4) the dynamic characteristics of the robot system are further carried out, and the dynamic characteristics of the robot are obtained by collecting the experimental data in the time domain and frequency domain, and obtaining the dynamic characteristics of the robot under the condition of changing the working speed and load. The main frequencies and amplitudes which affect the normal operation of the robot provide a reference for selecting the appropriate working speed and load and improving the reliability of the robot.
【學(xué)位授予單位】：合肥工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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