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浙江大学学报(工学版)
浙江大学学报(工学版)  2025, Vol. 59 Issue (3): 626-634    DOI: 10.3785/j.issn.1008-973X.2025.03.020
机械工程     
基于精度的球铰模糊可靠性寿命模型构建及评估方法
陈爽1,2(),李仕华2,*(),孙静3
1. 唐山师范学院 物理科学与技术学院，河北 唐山 064000
2. 燕山大学 机械工程学院，河北 秦皇岛 066004
3. 华北理工大学 机械工程学院，河北 唐山 063210
Model construction and evaluation method of fuzzy reliability life of spherical hinge based on accuracy
Shuang CHEN1,2(),Shihua LI2,*(),Jing SUN3
1. School of Physical Science and Technology, Tangshan Normal University, Tangshan 064000, China
2. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066004, China
3. College of Mechanical Engineering, North China University of Science and Technology, Tangshan 063210, China
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摘要：

结合多体系统动力学和模糊可靠性理论，分析球铰在机构中的服役寿命. 为了准确预测满足机构精度要求下的寿命，构建基于精度要求的球铰磨损寿命模型和评估方法. 提出机构精度特性的量化指标，分析含间隙球铰的多体动力学，建立球铰磨损间隙与机构精度指标之间的函数关系，并根据机构精度要求确定球铰最大允许磨损间隙. 针对磨损间隙具有随机性和模糊性的双重不确定性，由球铰的最大允许间隙得到最大允许磨损量，进一步考虑固体润滑工况，构建固体润滑球铰的模糊可靠性寿命模型. 以3-RPS并联机构为例，计及所有球铰的影响，通过设定机构精度阈值，分别预测大气和真空环境下固体润滑球铰的磨损寿命. 基于精度的寿命评估新方法能够根据机构精度要求预测球铰使用年限，提高机构在服役期间的安全性，为建全磨损寿命评价方法体系提供理论依据.
关键词： 球铰;  磨损寿命评估;  精度指标;  模糊可靠性;  固体润滑    
Abstract:

The service life of the spherical hinge in the mechanism was analyzed combining the multi-body system dynamics and fuzzy reliability theory. The wear life model and evaluation method of the spherical hinge based on accuracy requirements were constructed in order to accurately predict the life that met the accuracy requirements of the mechanism. The functional relationship between the wear clearance of the spherical hinge and the quantitative index of mechanism accuracy was established by quantifying the accuracy characteristics of the mechanism and the multi-body dynamic model of spherical hinges with clearance. The maximum allowable wear clearance value of the spherical hinge was determined based on the accuracy requirements of the mechanism. Furthermore, considering the dual uncertainties of randomness and fuzziness in wear clearances, the maximum allowable clearance value of the spherical hinge was used to determine the maximum allowable wear amount. The fuzzy reliability life model of solid lubricated spherical hinge was constructed considering the working conditions of solid lubrication. Finally, taking the 3-RPS parallel mechanism as an example, considering the influence of all spherical hinges, the wear life of solid lubricated spherical hinges in atmospheric and vacuum environments was predicted by setting the accuracy threshold of the mechanism. Results showed that the proposed method could predict the service life of spherical hinges by the precision failure threshold of the mechanism, improve the safety of the mechanism during service, and provide theoretical basis for improving the evaluation method system of wear life.
Key words: spherical hinge    wear life evaluation    accuracy index    fuzzy reliability    solid lubrication
收稿日期: 2024-01-11 出版日期: 2025-03-10
CLC:  TH 117  
基金资助: 国家自然科学基金资助项目（52275032）；河北省自然科学基金资助项目（E2022203077）；河北省省级科技计划资助项目（22371801D）；河北省科学技术研究与发展计划-中央引导地方科技发展资金项目（246Z1818G）；唐山师范学院博士基金资助项目（2023B31）.
通讯作者: 李仕华     E-mail: 157200223@qq.com;shli@ysu.edu.cn
作者简介: 陈爽（1983—），女，讲师，博士，从事摩擦学研究. orcid.org/0000-0002-8441-6294. E-mail：157200223@qq.com
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引用本文:

陈爽,李仕华,孙静. 基于精度的球铰模糊可靠性寿命模型构建及评估方法[J]. 浙江大学学报(工学版), 2025, 59(3): 626-634.

Shuang CHEN,Shihua LI,Jing SUN. Model construction and evaluation method of fuzzy reliability life of spherical hinge based on accuracy. Journal of ZheJiang University (Engineering Science), 2025, 59(3): 626-634.

链接本文:

https://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2025.03.020    或    https://www.zjujournals.com/eng/CN/Y2025/V59/I3/626

图 1  球铰间隙模型示意图
图 2  基于精度要求的球铰磨损寿命评估体系
图 3  3-RPS并联机构模型
参数数值参数数值
动平台质量mA/kg8.509 1动平台转动惯量矩阵J7/(kg·mm2)$ \left[ {\begin{array}{*{20}{c}} {65{\text{ }}231}&0&0 \\ 0&{65{\text{ }}231}&0 \\ 0&0&{129{\text{ }}766} \end{array}} \right] $
活塞杆质量m4~m6/kg0.521 8
缸体质量m1~m3/kg1.841 2
活塞杆质心到球副中心距离la/mm100.5活塞杆转动惯量矩阵J4~J6/(kg·mm2)$ \left[ {\begin{array}{*{20}{c}} {1{\text{ }}969}&0&0 \\ 0&{1{\text{ }}969}&0 \\ 0&0&{27} \end{array}} \right] $
缸体质心到转动副中心距离lb/mm94.5
球副与转动副初始中心距离L0/mm320.0
动系原点与定系的初始距离H0/mm341.2缸体转动惯量矩阵J1~J3/(kg·mm2)$ \left[ {\begin{array}{*{20}{c}} {8{\text{ }}343}&0&0 \\ 0&{8{\text{ }}332}&0 \\ 0&0&{450} \end{array}} \right] $
动、定平台半径(r、R)/mm120.0
修正参数α50
修正参数β50
表 1  3-RPS并联机构结构参数和动力学参数
图 4  3-RPS机构位置最大误差影响指标
图 5  3-RPS机构位置均方根误差影响指标
图 6  3-RPS机构位置无量纲最大误差影响指标
图 7  3-RPS机构位置无量纲均方根误差影响指标
图 8  球铰磨损中半梯形和半正态隶属函数分布曲线
图 9  球铰磨损的概率可靠性和模糊可靠性曲线
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