机械臂运动轨迹可靠性分析的自更新响应面法

为解决机械臂运动轨迹可靠性分析的计算效率和精确性难题,提出自更新响应面法分析机械臂运动轨迹可靠性.首先,根据等效极值思想,将机械臂的运动轨迹可靠性转换为运动误差最大时的轨迹点可靠性;其次,基于粒子群优化算法,求解随机输入在不同样本情况下运动误差达到最大时所对应的时间,利用这些数据构建关于时间的Kriging响应面,在可靠性分析过程中,通过该响应面快速预估机械臂运动误差最大时所对应的时间,以此提高计算效率;第三,基于相对均方预估误差建立自更新机制,通过加入新的样本点来提升Kriging响应面的近似精度,确保可靠性分析结果的精确性.最后,通过案例分析验证所提方法的有效性和正确性.

Automatic Updating Response Surface Method for Motion Trajectory Reliability Analysis of Manipulator

In order to solve the efficiency and accuracy problem appeared in motion trajectory reliability analysis of the manipulator,a new automatic updating response surface method is presented.Firstly,based on the equivalent extreme value approach,the motion trajectory reliability analysis is converted into the reliability analysis about the trajectory point in which the motion error reaches its maximum.Secondly,for different random sample inputs,the particle swarm optimization algorithm is employed to get the time responses corresponding to the maximum values of the motion errors.These inputs and time responses are used to construct a Kriging response surface of time,which is used to get the estimated value of the time response rapidly and improve the efficiency of the reliability analysis.Thirdly,based on the mean square predicted error,an automatic updating mechanism is constructed.Through adding new sample points,the approximate quality of the Kriging response surface is improved,and the accuracy of the reliability analysis results is assured.A case analysis is used to demonstrate the validity of the proposed method.