纺织学报 ›› 2019, Vol. 40 ›› Issue (01): 142-146.doi: 10.13475/j.fzxb.20171005205

• 机械与器材 • 上一篇    下一篇

刺绣机针杆机构运动精度的灵敏度分析

郭惠昕(), 张干清   

  1. 长沙学院 机电工程学院, 湖南 长沙 410003
  • 收稿日期:2017-10-17 修回日期:2018-10-12 出版日期:2019-01-15 发布日期:2019-01-18
  • 作者简介:郭惠昕(1962—),男,教授,硕士。主要研究方向为不确定性分析、稳健设计等。E-mail: xinhuiguo@126.com。
  • 基金资助:
    湖南省自然科学基金项目(13JJ6095);长沙市科技计划项目(K1705012)

Sensitivity analysis on kinematic accuracy of needle bar mechanism in embroidery machine

GUO Huixin(), ZHANG Ganqing   

  1. School of Mechanical and Electrical Engineering, Changsha University, Changsha, Hunan 410003, China
  • Received:2017-10-17 Revised:2018-10-12 Online:2019-01-15 Published:2019-01-18

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摘要：

为提高刺绣机针杆机构的运动精度及其稳健性,采用Sobol'方法对该机构的运动精度进行全局灵敏度分析,并在此基础上对针杆机构进行优化设计。首先,同时考虑杆长的制造误差和运动副间隙对针杆位移的影响,建立了针杆机构运动精度的数序模型。然后,采用Sobol'方法求出该模型中14个随机变量的总灵敏度,并根据灵敏度的排序确定出4个重要因素和1个关键因素,其中连杆长度是关键因素。通过减少关键因素的制造误差,进一步优化针杆机构的运动精度。结果表明,优化后针杆机构位移误差的均方差明显降低,运动精度的稳健性得到了提高。

关键词: 刺绣机, 针杆机构, 运动精度, 灵敏度, 数序模型

Abstract:

In order to improve the kinematic precision and its robustness of the needle bar mechanism in the embroidery machine, the global sensitivity analysis on the kinematic accuracy of this mechanism was carried out by using the Sobol' method. On the basis of global sensitivity analysis, the optimum design of the needle bar mechanism was carried out. Firstly, considering the effect of rod manufacturing error and kinematic pair clearance on the needle bar displacement, a numerical model for kinematic accuracy analysis of needle bar mechanism was established. Then, the total sensitivity of 14 random variables was obtained by using the Sobol' global sensitivity analysis method, and 4 important factors and 1 key factor were determined according to the order of sensitivity, in which the length of the connecting rod is the key factor. By reducing the manufacturing error of the key factor, the kinematic accuracy of the needle bar mechanism was further optimized. The results show that the standard deviation of the displacement error of the needle bar mechanism is reduced obviously, and the robustness of the motion accuracy is improved.

Key words: embroidery machine, needle bar mechanism, kinematic accuracy, sensitivity, numerical model

中图分类号: 

  • TS103.3

图1

针杆机构示意图 ①—曲柄;②—连杆"

表1

针杆运动精度的影响因素及其分布规律"

变量 几何量 均值 分布区间 标准差 分布类型
x1 s1 μ1 μ1±0.031 0.031/3 正态
x2 s2 μ2 μ2±0.021 0.021/3 正态
x3 s3 μ3 μ3±0.037 0.037/3 正态
x4 l AB μ4 μ4±0.018 0.018/3 正态
x5 lBC μ5 μ5±0.037 0.037/3 正态
x6 l DC μ6 μ6±0.026 0.026/3 正态
x7 l DE μ7 μ7±0.037 0.037/3 正态
x8 l EF μ8 μ8±0.026 0.026/3 正态
x9 ra 0.007 [0.002,0.012] 0.001 7 正态
x10 rb 0.007 [0.002,0.012] 0.001 7 正态
x11 rc 0.008 5 [0.002 5,0.014 5] 0.002 正态
x12 rd 0.008 5 [0.002 5,0.014 5] 0.002 正态
x13 re 0.008 5 [0.002 5,0.014 5] 0.002 正态
x14 rf 0.008 5 [0.002 5,0.014 5] 0.002 正态
z1 δa — [0, 360°] — 均匀
z2 δb — [0, 360°] — 均匀
z3 δc — [0, 360°] — 均匀
z4 δd — [0, 360°] — 均匀
z5 δe — [0, 360°] — 均匀
z6 δf — [0, 360°] — 均匀

图2

优化前总灵敏度的条形图"

图3

优化后总灵敏度的条形图"

图4

优化前后针杆运动误差的均值"

图5

优化前后针杆运动误差的均方差"

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