Research On Motion Accuracy Reliability Analysis And Joint State Monitoring Of Industrial Robot

With the continuous development of the transformation and upgrading of manufacturing industry,the demand for machine replacement is getting higher and higher,and the reliability of industrial robots ' motion performance has attracted more and more attention.At present,most studies on the reliability of industrial robots focus on structural reliability and component life reliability,and there are few studies on the motion reliability of robots.However,the motion reliability of industrial robots is the key to measuring their working performance,and the operation status of industrial robots also needs to be effectively monitored.Therefore,this paper takes UR10 as the research object,from the perspective of motion accuracy reliability,explores the mathematical representation of various influencing factors on the reliability of robot motion accuracy,and analyzes the sensitivity of various influencing factors on the reliability of robot motion accuracy,and builds the monitoring system of industrial robot joint angle operation.And the joint angle fault diagnosis.In this paper,the forward kinematics model of industrial robot UR10 is established based on D-H matrix modeling method.The manipulator model is built based on Matlab-simmechanics module,and the forward kinematics simulation is carried out.Combined with Monte Carlo method,the workspace of industrial robot UR10 is simulated and analyzed,and its singularity is analyzed by constructing Jacobian matrix of industrial robot UR10.Four different kinematic calibration error models are proposed,which are evaluated from two dimensions of parameter identification accuracy and model anti-interference ability.The motion parameters of industrial robot UR10 are calibrated by using monocular vision technology and multi-population genetic algorithm.The comprehensive mapping model of influencing factors of motion accuracy reliability of industrial robots is established.The influence of each motion accuracy factor on the pose of the end of the manipulator is mathematically characterized,and the comprehensive mapping model of the motion accuracy reliability of industrial robots is established.The sensitivity analysis of each influencing factor is carried out by combining the nonlinear response surface method.An industrial robot joint angle monitoring system is built.The virtual prototype system of industrial robot UR10 was preliminarily built based on Matlab-sinmulink.The joint angle information of the manipulator was collected by TCP / IP communication protocol.The real-time motion pose of the end of the manipulator was observed based on the tricular vision technology.The joint angle of the industrial robot UR10 was diagnosed based on the data-driven kernel principal component analysis algorithm,so as to realize the robot joint angle monitoring.