基于性能损失模型的机器人装配质量预测方法

2009 International Asia Conference on Informatics in Control, Automation and Robotics Pub Date : 2009-02-01 DOI:10.1109/CAR.2009.19

Pengzhong Li, Weimin Zhang

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引用次数: 3

摘要

分析了机器人性能随装配误差的变化趋势。在性能趋势曲线的基础上，给出了性能损失函数，以反映装配误差引起的性能变化。将机器人的性能损失分为三个阶段，提出了满足性能损失函数实际应用的所有项。给出了性能损失指标的计算过程，建立了机器人的性能损失模型。建立了基于性能损失模型的近似设计开发过程。最后给出了一个算例，说明了损失模型的计算过程。通过性能损失指标，清晰地了解装配误差对装配质量影响的变化信息。通过装配误差来了解机器人装配过程的不确定性对装配质量和性能的影响。

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Performance Loss Model Based Forecasting Method of Robot Assembly Quality

The changing tendency of robot performance varying with assembly error was analyzed. Based on performance tendency curve, performance loss function is given to reflect performance change led by assembly error. Robot performance loss is divided by three phases, and all terms meeting practical application of performance loss function were put forward. Calculating process of index of performance loss was given, establishing a performance loss model of robot. An approximate design and development process based on performance loss model was built. Finally, an example was given to demonstrate calculating procedure of loss model. Through index of performance loss, changing information of assembly quality impacted by assembly error is known clearly. The effect of uncertainty of robot assembly process on assembly quality and performance is known through assembly error.

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来源期刊

2009 International Asia Conference on Informatics in Control, Automation and Robotics

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