Kinematic Error And Reliability Analysis Of Series Robot

Since the 21 st century,with the increase of global labor cost and the increasing shortage of resources,intelligent manufacturing and green manufacturing have become the development trend of various industries.Because of its intelligence and high efficiency,robot has become an important part of intelligent manufacturing and has been widely used in industrial production.In this paper,the kinematic error and reliability of a self-developed six-degree-of-freedom series robot are studied.The main research contents are as follows:Firstly,the kinematics error parameters of the robot are analyzed,and the error sources are studied in detail.Taking the terminal position error as the evaluation index,the influence of each parameter error on the accuracy of the terminal position was studied by using the control variable method.Through analysis,the robot's connecting rod Angle error and joint Angle error have great influence on its end position accuracy.Based on the research results,a series of optimization and improvement measures for the design and manufacturing of the robot are proposed.Secondly,the parameter error model is established by differential method and the error formula is deduced.An experimental platform was built,and the end position was measured by closed-loop method.The actual position of the end was measured by the contact between the end probe and the six-hole measuring board.Particle swarm optimization(PSO)is used to compensate the error of the robot,and the error values of each parameter are obtained,and the error values are compensated to the parameters of the robot.Experiments show that the error of the robot is reduced after compensation,which meets its working requirements,and proves the effectiveness of error compensation based on particle swarm optimization algorithm.Then,FMEA and FTA are used to analyze the reliability of the robot.First,the structure and function of the robot are analyzed with FMEA,and the structure function diagram is established to analyze the influence and harmfulness of the fault mode and invalid mode,and to find out the key fault mode which is more harmful to the robot.Then the FTA is used to establish the fault tree,conduct qualitative and quantitative analysis of the fault tree,and find out the key components that lead to the failure of the robot system,and put forward design suggestions and improvement suggestions for the key components and fault mode.Finally,Monte Carlo method is used to analyze the reliability and fault-free working time of the robot.The characteristic parameters of the robot system are obtained by Monte Carlo method,and the reliability of the system is analyzed according to the characteristic parameters,and the weak links of the system are found.The analysis shows that Monte Carlo method has obvious application value and economic benefit for the robot,and provides a new effective method for the reliability analysis of complex robot system.