In order to present a new method for analyzing the reliability of a two-link flexible robot manipulator,Lagrange dynamics differential equations of the two-link flexible robot manipulator were established by using the...In order to present a new method for analyzing the reliability of a two-link flexible robot manipulator,Lagrange dynamics differential equations of the two-link flexible robot manipulator were established by using the integrated modal method and the multi-body system dynamics method.By using the Monte Carlo method,the random sample values of the dynamic parameters were obtained and Lagrange dynamics differential equations were solved for each random sample value which revealed their displacement,speed and acceleration.On this basis,dynamic stresses and deformations were obtained.By taking the maximum values of the stresses and the deformations as output responses and the random sample values of dynamic parameters as input quantities,extremum response surface functions were established.A number of random samples were then obtained by using the Monte Carlo method and then the reliability was analyzed by using the extremum response surface method.The results show that the extremum response surface method is an efficient and fast reliability analysis method with high-accuracy for the two-link flexible robot manipulator.展开更多
An approach of limit state equation for surrounding rock was put forward based on deformation criterion. A method of symmetrical sampling of basic random variables adopted by classical response surface method was mend...An approach of limit state equation for surrounding rock was put forward based on deformation criterion. A method of symmetrical sampling of basic random variables adopted by classical response surface method was mended, and peak value and deflection degree of basic random variables distribution curve were took into account in the mended sampling method. A calculation way of probability moment, based on mended Rosenbluth method, suitable for non-explicit performance function was put forward. The first, second, third and fourth order moments of functional function value were calculated by mended Rosenbluth method through the first, second, third and fourth order moments of basic random variable. A probability density the function（PDF） of functional function was deduced through its first, second, third and fourth moments, the PDF in the new method took the place of the method of quadratic polynomial to approximate real functional function and reliability probability was calculated through integral by the PDF for random variable of functional function value in the new method. The result shows that the improved response surface method can adapt to various statistic distribution types of basic random variables, its calculation process is legible and need not itemtive circulation. In addition, a stability probability of surrounding rock for a tunnel was calculated by the improved method, whose workload is only 30% of classical method and its accuracy is comparative.展开更多
基金Project(2006AA04Z405) supported by the National High Technology Research and Development Program of ChinaProject(3102019) supported by Beijing Municipal Natural Science Foundation,China
文摘In order to present a new method for analyzing the reliability of a two-link flexible robot manipulator,Lagrange dynamics differential equations of the two-link flexible robot manipulator were established by using the integrated modal method and the multi-body system dynamics method.By using the Monte Carlo method,the random sample values of the dynamic parameters were obtained and Lagrange dynamics differential equations were solved for each random sample value which revealed their displacement,speed and acceleration.On this basis,dynamic stresses and deformations were obtained.By taking the maximum values of the stresses and the deformations as output responses and the random sample values of dynamic parameters as input quantities,extremum response surface functions were established.A number of random samples were then obtained by using the Monte Carlo method and then the reliability was analyzed by using the extremum response surface method.The results show that the extremum response surface method is an efficient and fast reliability analysis method with high-accuracy for the two-link flexible robot manipulator.
基金Project(50378036) supported by the National Natural Science Foundation of China Project (200503) supported by the Foundation ofCommunications Department of Hunan Province, China
文摘An approach of limit state equation for surrounding rock was put forward based on deformation criterion. A method of symmetrical sampling of basic random variables adopted by classical response surface method was mended, and peak value and deflection degree of basic random variables distribution curve were took into account in the mended sampling method. A calculation way of probability moment, based on mended Rosenbluth method, suitable for non-explicit performance function was put forward. The first, second, third and fourth order moments of functional function value were calculated by mended Rosenbluth method through the first, second, third and fourth order moments of basic random variable. A probability density the function（PDF） of functional function was deduced through its first, second, third and fourth moments, the PDF in the new method took the place of the method of quadratic polynomial to approximate real functional function and reliability probability was calculated through integral by the PDF for random variable of functional function value in the new method. The result shows that the improved response surface method can adapt to various statistic distribution types of basic random variables, its calculation process is legible and need not itemtive circulation. In addition, a stability probability of surrounding rock for a tunnel was calculated by the improved method, whose workload is only 30% of classical method and its accuracy is comparative.
