The Reliability Analysis Of 6R Industrial Robot Based On Virtual Prototype Technology

Industrial robot is an intelligent equipment in industrial sectors,which can be executed by their own power and control ability for automatic work.With pushing of made in China 2025 strategy,The trend of "machine replacement" will inevitably lead to the industrialization of industrial robots.So the reliability of the industrial robot problem is increasingly prominent.Domestic and foreign scholars do lots of reserch on the reliability of robot body strength,life and others,it has been very mature.But for its sports function reliability of relevant research is not much.And the output motion parameters(displacement,velocity,acceleration)reliability are the key indicators of industrial robot operation ability.Therefore research on the reliability of the industrial robot has far-reaching significance both in theoretical analysis and engineering applications.The traditional reliability analysis requires a lot of new products for test which the cycle is long,cost and low efficiency.We based on virtual prototype technology.In view of 6R industrial robots,make simulations under various random factors exist in the process of industrial robot operation.First of all,For the mathematical modeling of industrial robot movement error(displacement error,velocity error and acceleration error)have derived.And infered the expression of the characteristics of mathematical statistics output movement error;The motion reliability calculation model of single random error and multiple random error is established.Then the technical difficulties in the reliability simulation of the industrial robot are gradually broken down:The modeling of SolidWork and ADAMS was implemented;Combined with ADAMS 'secondary development,the user has successfully compiled the user custom function MCRAND,The random modification of the design variable was implemented,and the randomness of random error was guaranteed;The automatic output and preservation of the results of each simulation is achieved by compiling a circular simulation program;The simulation results were calculated by MATLAB GUI.Consider the effect of interjoint space;The physical model of the joint space vector model and the interstitial dimension parameterization was established.And influence and multiple joints,respectively,for a single joint space under the influence of dynamic simulation,analyzed the displacement,velocity and acceleration of output deviation;The data of the loop simulation results were statistically processed,which calculating with MATLAB GUI,Finally make the comprehensive reliability analysis under joint clearance.In addition,there is a kinematics simulation of the problem of dynamic source instability in industrial robots,then translate dynamic instability into driver error successfully;In ADAMS,the driver error is represented by a spline function;And single driving error and the presence of multiple driver error motion simulation,analyzed the driving error of the joints,which can easily be seen in the time period and the most easily.Finally,the reliability of the calculation module of MATLAB is calculated by statistical processing of the resulting data.The influence of the driver error on the reliability of the 6R industrial robot is analyzed quantitatively.