基于DOE方法的射击机器人发射机构测试性能影响因素分析
幸琳乔，何俐萍*，索浩良，刘靖
（电子科技大学 机械与电气工程学院，四川 成都 611731）
摘要：为克服常见射击机器人存在的弹丸打击准确性不高、发射波动性大等问题，以摩擦轮发射机构为研究对象，提出一种基于试验设计（Design of Experiment，DOE）方法的射击机器人发射机构性能设计和分析方法。首先，通过分析发射机构运动关系，利用赫兹接触理论建立弹丸发射加速度模型，确定摩擦轮的半径、材料属性和单边最大过盈量三个可控因素，筛选出试验影响因子。其次，对三个可控因素进行试验设计并建立因素影响模型，进行发射机构影响因素的参数优化。同时，通过方差分析法验证摩擦轮的材料和单边最大过盈量对弹丸发射影响的显著性；最后，对设计的参数进行可测试性分析，测试不同的试验条件下弹丸发射性能水平。实验结果表明弹丸发射初速度达到28 m/s，命中静止目标的概率为97 %，在满足设定的弹丸发射指标要求前提下，保证了射击机器人的发射准确性和稳定性。
关键词：机器人发射机构；可测试性；影响因素；参数筛选；方差分析法
中图分类号：O212.6 文献标志码：A doi：10.3969/j.issn.1006-0316.2022.11.003
文章编号：1006-0316 (2022) 11-0018-10
Factors Influencing Testability of the Launch Mechanism for Shooting Robots
Using DOE Method
XING Linqiao，HE Liping，SUO Haoliang，LIU Jing
( School of Mechanical and Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China )
Abstract：To overcome the problems of low accuracy of projectiles striking and large fluctuation in the current launching mechanism for shooting robots, a DOE-based method is proposed to study the friction wheel launching mechanism and to design and analyze the performance of the shooting robot’s launching mechanism. Firstly, after analyzing the kinematic relationship of the launching mechanism, the projectile launching acceleration model is established by using the Hertzian contact theory. Three main controllable factors are determined—the radius of the friction wheel, the material properties and the maximum unilateral interference. And then test impact factors are selected. Secondly, a test design is conducted for the three controllable factors and the impact model is provided to optimize the parameters of the influencing factors of the launching mechanism. Meanwhile, variance analysis is adopted to verify the significance of the influence of the friction wheel material and the maximum unilateral interference on the projectile launching. Finally, the testability analysis of the design parameters is carried out, and the performance of the projectile launching mechanism is validated under different test conditions. The experimental results show that the initial launch velocity of the projectile reaches 28 m/s and the probability of hitting a stationary target is 97%. It meets the requirements of projectile launching index and ensures the accuracy and stability of the shooting robot's launching.
Key words：robot launching mechanisms；testability；influencing factors；parameter selection；variance analysis
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收稿日期：2022-04-21
基金项目：国家自然科学基金重点项目（61833002）；教育部产学合作协同育人项目（202101204003）；四川省2018-2020年高等教育人才培养质量和教学改革项目（JG2018-224）
作者简介：幸琳乔（1997－），男，江西宜春人，硕士研究生，主要研究方向为机器人信息融合与可靠性评估，E-mail：xing_linqiao@std.uestc.edu.cn。*通讯作者：何俐萍（1973－），女，四川德阳人，博士，教授，主要研究方向为智能机器人系统可靠性与安全性分析、寿命预测与健康评估、不确定性人工智能等，E-mail：lipinghe@uestc.edu.cn。
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