Please wait a minute...
JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE)  2018, Vol. 52 Issue (1): 1-7    DOI: 10.3785/j.issn.1008-973X.2018.01.001
Mechanical and Energy Engineering     
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
Download:   PDF(1341KB) HTML
Export: BibTeX | EndNote (RIS)      

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.



Received: 27 July 2017      Published: 15 December 2017
CLC:  TH115  
Cite this article:

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.

URL:

http://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2018.01.001     OR     http://www.zjujournals.com/eng/Y2018/V52/I1/1


基于四阶矩估计的机器人运动可靠性分析

为了研究串联型机器人的连杆尺寸偏差和关节间隙对运动可靠性的影响,将机器人运动路径离散成一系列插补点,有效的运动路径要求每一个插补点的位置误差均在精度范围之内.以离散点的位置误差为随机变量,通过研究路径中所有离散位置点误差的极值分布,基于最大熵原理建立机器人系统的功能函数.采用四阶矩估计法,对机器人的可靠性进行计算.与传统的一阶可靠性方法、一次二阶距估计法及Monte Carlo模拟进行对比分析.结果表明,采用四阶矩估计方法能够提高计算精度,显著缩短计算时间.

[1] LAI X, HE H, LAI Q, et al. Computational prediction and experimental validation of revolute joint clearance wear in the low-velocity planar mechanism[J]. Mechanical Systems and Signal Processing, 2017, 85(5):963-976.
[2] LIAN B, SUN T, SONG Y. Parameter sensitivity analysis of a 5-DoF parallel manipulator[J]. Robotics and Computer-Integrated Manufacturing, 2017, 46(14):1-14.
[3] LI Y, CHEN G, SUN D, et al. Dynamic analysis and optimization design of a planar slider-crank mechanism with flexible components and two clearance joints[J]. Mechanism and Machine Theory, 2016, 99(10):37-57.
[4] GENG X, WANG X, WANG L, et al. Non-probabilistic time-dependent kinematic reliability assessment for function generation mechanisms with joint clearances[J]. Mechanism and Machine Theory, 2016, 104(6):202-221.
[5] ERKAYA S. Investigation of joint clearance effects on welding robot manipulators[J]. Robotics and Computer-Integrated Manufacturing, 2012, 28(4):449-457.
[6] RAO S S, BHATTI P K. Probabilistic approach to manipulator kinematics and dynamics[J]. Reliability Engineering and System Safety, 2001, 72(1):47-58.
[7] 宋月娥,吴林,戴明. 机器人关节间隙误差分析[J]. 机械工程学报, 2003,39(4):11-14. SONG Yue-e, WU Lin, DAI Ming. Error analysis of robot joint clearance[J]. Chinese Journal of Mechanical Engineering, 2003, 39(4):11-14.
[8] KIM J, SONG W, KANG B. Stochastic approach to kinematic reliability of open-loop mechanism with dimensional tolerance[J]. Applied Mathematical Modelling, 2010, 34(5):1225-1237.
[9] WANG J, ZANG J, DU X. Hybrid dimension reduction for mechanism reliability analysis with random joint clearances[J]. Mechanism and Machine Theory, 2011, 46(10):1396-1410.
[10] HAFEZIPOUR M, KHODAYGAN S. An uncertainty analysis method for error reduction in end-effector of spatial robots with joint clearances and link dimension deviations[J]. International Journal of Computer Integrated Manufacturing, 2016, 30(8):1-11.
[11] BOWLING A P, RENUAD J E, NEWKIRK J T, et al. Reliability-based design optimization of robotic system dynamic performance[J]. IEEE/RSJ International Conference on Intelligence, 2007, 129(4):3611-3617.
[12] LI J, CHEN J, FAN W. The equivalent extreme-value event and evaluation of the structural system reliability[J]. Structural Safety, 2007, 29(2):112-131.
[13] ZHANG Z, XU L, FLORES P, et al. A Kriging model for dynamics of mechanical systems with revolute joint clearances[J]. Journal of Computational and Nonlinear Dynamics, 2014, 9(3):1-13.
[14] 王锋,陈凯,陈小平. 一种含间隙机械臂的在线校准方法[J]. 机器人, 2013,35(5):521-526. WANG Feng, CHEN Kai, CHEN Xiao-ping. An online calibration method for manipulator with joint clearance[J]. Robot, 2013, 35(5):521-526.
[15] 李云贵,赵国藩. 结构可靠度的四阶矩分析法[J]. 大连理工大学学报, 1992, 18(4):455-459. LI Yun-gui, ZHAO Guo-fan. Reliability analysis of structures based on maximum entropy theory[J]. Journal of Dalian University of Technology, 1992, 18(4):455-459.
[16] JAYNES E T. Information theory and statistical mechanics[J]. Physical Review, 1957, 106(4):171-190.

No related articles found!