基于时变运动机构可靠性灵敏度分析方法，考虑机构杆件旋转铰间隙对运动精度的影响，发展出一种计算含旋转铰间隙平面运动机构全局灵敏度指标的分析方法。该方法首先基于该种运动机构的误差函数构建其包络函数，进而解析推导其可靠性计算公式，在此基础上结合时变运动机构全局灵敏度分析方法，求得含旋转铰间隙平面运动机构各全局灵敏度指标的计算公式。最后，将本文所提方法应用到两个具体机构算例，所得结果数据与蒙特卡罗法计算结果相比吻合度高，具有较高的精确度；同时，计算成本也大大降低。
Based on the method for reliability and sensitivity analysis of the time-dependent motion mechanism, an analysis method for calculating the global sensitivity index of the planar motion mechanism with revolution joint clearances is developed, considering the influence of revolution joint clearances of the motion mechanism on kinematic accuracy. Firstly, the envelope function is derived based on the error function of the motion mechanism, and then a formula for calculating the reliability of the mechanism is obtained. The method for global sensitivity analysis for the time-dependent planar motion mechanism is used to obtain a computation formula for the global sensitivity index of the planar motion mechanism with revolution joint clearances. Finally, the method proposed in this work is applied in two mechanism examples. The estimation results agree well with the results obtained with the Monte Carlo method, and have higher accuracy and lower computational costs.
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