Kinematic interval reliability analysis of spherical 4R mechanism with joint clearances
In order to analyze the influence of the joints clearances on the kinematic accuracy of the spherical 4R mechanism,an interval reliability analysis method of the output angular displacement error of the spherical mechanism was proposed.The influence of the joints clearances on the actual position and attitude of the spherical 4R mechanism was analyzed.Based on the D-H parameters,the first-order differential of the mechanism parameters was expressed as the error caused by the joints clearances,and the analytical model of the angular displacement output accuracy of the mechanism was established using the loop circuit incremental method.Aiming at the single-cycle motion of spherical 4R mechanism,the mathematical relationship between the motion reliability of the mechanism and the angular displacement output accuracy of the mechanism was expounded,and the interval reliability analysis model of spherical 4R mechanism was established by combining extremum method,and the interval motion reliability of spherical 4R mechanism was calculated.The Monte Carlo simulation results were used as the standard values for evaluating the reliability calculation.Finally,the effectiveness of the proposed method was verified by the reliability analysis example of spherical 4R mechanism.
NETL
NSTL
万方数据
维普
