浙江大学学报(工学版)  2018, Vol. 52 Issue (1): 1-7    DOI: 10.3785/j.issn.1008-973X.2018.01.001
 机械与能源工程

Reliability analysis of manipulator based on fourth-moment estimation
WANG Wei, WANG Jin, LU Guo-dong
State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou 310027, China
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Abstract:

The trajectory is decomposed into a series of discrete path points in order to analyze the effect originated from linkage dimension deviations and joint clearances of the manipulator to the kinematic reliability. The safe trajectory can be obtained since all the positional errors of the path points are less than the required tolerance. The positional error of each independent discrete point was considered as the random variable. The extreme value distribution of the positional error of all the discrete points in the trajectory was analyzed. Then the performance function of the manipulator was established based on the maximum entropy principle. The fourth-moment reliability method (FMRM) was applied to estimate the kinematic reliability. The results obtained from the first-order reliability method (FORM), the first-order second-moment method (FOSM) and Monte Carlo simulations (MCS) were used as the benchmarks for a comparative study. The efficiency and accuracy of the FMRM were improved, and the computation time was shortened.

 CLC: TH115

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#### 引用本文:

WANG Wei, WANG Jin, LU Guo-dong. Reliability analysis of manipulator based on fourth-moment estimation. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2018, 52(1): 1-7.

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