Mechanical arm robust optimization design method based on interval and bounded probability mixed uncertainty
An uncertain and robust optimization technology, applied in the field of robust optimization design of manipulators based on mixed uncertainties of interval and bounded probability
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[0086] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific examples.
[0087] The information involved in the figure is the actual application data of the present invention in the robust design of a certain type of mechanical arm, figure 1 It is a flow chart of the robust optimization design method of the manipulator based on the mixed uncertainty of interval and bounded probability.
[0088] 1. Consider the two types of uncertainties of the hydraulic cylinder driving oil pressure, manufacturing tolerance and material properties, and the probability of the mechanical arm, and use random variables that obey the generalized Beta distribution to describe each probability uncertainty parameter:
[0089] 1) to figure 2 , image 3 The shown manipulator is taken as the research object, considering the manufacturing and installation errors, the image 3 Shown forearm length l FQ Described as an interval variab...
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