论文总字数：24105字

摘 要

Abstract IV

第一章 绪论 1

1.1 研究背景 1

1.1.1 工业机器人 1

1.1.2 可靠性研究 2

1.2 国内外发展现状和趋势 3

1.3 本文的主要工作 3

第二章 工业机械臂的结构 4

2.1 工业机器人系统 4

2.1.1 基本结构及原理 4

2.1.2 工业机械臂的一般结构 4

2.2 机械臂的机械结构 5

2.3 减速器结构 6

2.4 本章小结 8

第三章 工业机械臂的失效模式及其影响分析 9

3.1 FMEA方法概述 9

3.1.1 基本概念 9

3.1.2 分析方法 10

3.2 伺服系统与机械结构的失效模式分析 11

3.2.1 结构和功能划分 11

3.2.2 可靠性框图绘制及FMEA工作表的填写 16

3.3 减速器的失效模式分析 18

3.4 危害性分析 21

3.4.1 危害性分析方法 21

3.4.2 危害性分析 23

3.5 本章小结 24

第四章 工业机械臂的故障树分析 26

4.1 故障树分析（FTA）方法概述 26

4.2 上臂机构分系统FTA分析 28

4.3 减速器FTA分析 30

4.4 本章小结 33

第五章 总结与展望 35

5.1 总结 35

5.2 展望 35

致谢 36

参考文献 37

摘要

在机器人和人工智能技术不断完善的现代工业生产种，工业机器人的应用越来越广泛，这也使得机器人的可靠性问题尤为突出。工业机器人可靠性的研究对于机器人的使用、保养、维修有重要的意义。本文主要研究方向为工业机器臂的可靠性，主要工作如下：

（1）对工业机械臂的结构进行分类和分组，总共分成三个部分：伺服系统，减速器，机械结构。

（2）分别对各个部分的结构进行分析，绘制各个部分的机构示意图。分层次讨论零部件的功能与结构之间的对应关系，并绘制各个机构的可靠性框图。

（3）对伺服系统、传动机构以及减速器进行了失效模式及其危害性分析和故障树分析，根据顶事件以及底事件找出最小割集，列出FMEA工作表，将其中零部件进行风险系数评估，分别统计严酷度、故障发生概率以及故障检测概率计算风险系数。结果表明

结果表明，在伺服与传动机构中齿轮、电机等零件的风险系数较高，在减速器中，行星齿轮和同步带轮的重要程度较高。后提出相关改善预防故障的措施，并对可靠性的研究进行展望。

关键词：工业机械臂，可靠性评估，失效模式及其影响分析，故障树分析，风险系数评估

Abstract

In modern industrial productions where robots and artificial intelligence technologies are constantly improving, the use of industrial robots has become more and more widespread. This has also made the reliability of robots particularly problematic. The research on the reliability of industrial robots has important significance for the use, maintenance and repair of robots. The main research direction of this paper is the reliability of industrial robotic arms. The main tasks are as follows:
(1) The structure of the industrial robot arm is classified and grouped into a total of three parts: a servo system, a speed reducer, and a mechanical structure.
(2) Analyze the structure of each part and draw the schematic diagram of each part. The correspondence between the functions and structures of components is discussed at different levels, and the reliability block diagrams of each organization are drawn.
(3) Failure Mode and Effects Analysis and Fault Tree Analysis were performed on the servo system, transmission mechanism, and reducer, and the minimum cut sets were identified based on the top event and the bottom event. The FMEA-worksheet was listed and the parts were subjected to risk. Coefficient evaluation, statistical severity, failure probability and fault detection probability are calculated respectively. The results show
The results show that the risk factors of gears, motors and other parts are higher in the servo and transmission mechanism. In the reducer, the importance of planetary gears and timing pulleys is higher. Afterwards, related measures for improving and preventing failures were put forward, and the research on reliability was prospected.

KEY WORDS: industrial mechanical arm, reliability assessment, Failure Mode and Effects Analysis, Fault Tree Analysis, risk priority number.

绪论

研究背景

工业机器人

机器人的主要技术功能被称为“可编程”和“示教再现”^[1]。

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