| Intelligent manufacturing and green manufacturing has gradually become the developing trend of the manufacting industry in the future with the rising labor costs and growing scarcity of resources.As an important part of intelligent manufacturing,it develops of human as an alternative to complete a variety of complex tasks and put forward higher requirements for the reliability of robot.This subject comes from the project of national experimental teaching demonstration center in 12 th Five-Year,it takes truss robot as the research object,studies the factors in process that influence the reliability of robot.(1)In order to determine the degree of influence of mechanical failure on reliability,make the reliability prediction of robot,the failure modes and effects of mechanical failure is analyzed,the subjective weight and objective weight of mechanical failure is obtained by FAHP and entropy method,besides give the importance ranking.(2)According to the comprehensive evaluation of factors affecting the reliability of robot,get combine weight based on the minimum deviation method,find out the weak link of system and determine the fault maintenance order,make numerical simulation and sensitivity analysis of reliability influencing factors.(3)The influence of working speed and load on the dynamic characteristics of the robot is studied,make modal analysis of robot under typical position,establish the rigid-flexible coupling model,the control variable method is used to simulate the dynamics of the working speed and load,analyse and compare the effects of both on the vibration of robot end.(4)The dynamic characteristics experiment of robot system are further launch,collect vibration signal to make time domain and frequency domain analysis,get the dynamic characteristics of robot under working speed and load change,obtain the main frequency and amplitude of influence its normal working,provide reference for improve the reliability of truss robot and choose appropriate working speed and load. |
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