MOTION RELIABILITY ANALYSIS OF A 6⁃DOF INDUSTRIAL ROBOT
In order to evaluate the reliability and accuracy of the end⁃effector of a six⁃degree⁃of⁃freedom industrial robot in the task space,a robot motion reliability analysis strategy based on the envelope method was proposed.Firstly,the error function and reliability model of the robot system was obtained...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Strength
2024-08-01
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| Series: | Jixie qiangdu |
| Subjects: | |
| Online Access: | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2024.04.022 |
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| _version_ | 1841534099900071936 |
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| author | LI ZiYi DING Li MA Rui DUAN JinJun |
| author_facet | LI ZiYi DING Li MA Rui DUAN JinJun |
| author_sort | LI ZiYi |
| collection | DOAJ |
| description | In order to evaluate the reliability and accuracy of the end⁃effector of a six⁃degree⁃of⁃freedom industrial robot in the task space,a robot motion reliability analysis strategy based on the envelope method was proposed.Firstly,the error function and reliability model of the robot system was obtained through kinematics.Secondly,the envelope method was used to solve the reliability model to obtain the failure probability of the end⁃effector,and the error function was linearized by Taylor′s formula,while redundant points in the covariance matrix were excluded in the calculation process to make it conform to the positive definite condition and improve the accuracy of the envelope.Finally,the proposed method was simulated and analyzed.The results show that the error of the envelope method compared with the Monte Carlo method is 0.5%~19.8%,which verifies the effectiveness of the method. |
| format | Article |
| id | doaj-art-91a24cdc4b824ffcb3a6164a38d736a8 |
| institution | Kabale University |
| issn | 1001-9669 |
| language | zho |
| publishDate | 2024-08-01 |
| publisher | Editorial Office of Journal of Mechanical Strength |
| record_format | Article |
| series | Jixie qiangdu |
| spelling | doaj-art-91a24cdc4b824ffcb3a6164a38d736a82025-01-15T02:46:02ZzhoEditorial Office of Journal of Mechanical StrengthJixie qiangdu1001-96692024-08-014692493179314455MOTION RELIABILITY ANALYSIS OF A 6⁃DOF INDUSTRIAL ROBOTLI ZiYiDING LiMA RuiDUAN JinJunIn order to evaluate the reliability and accuracy of the end⁃effector of a six⁃degree⁃of⁃freedom industrial robot in the task space,a robot motion reliability analysis strategy based on the envelope method was proposed.Firstly,the error function and reliability model of the robot system was obtained through kinematics.Secondly,the envelope method was used to solve the reliability model to obtain the failure probability of the end⁃effector,and the error function was linearized by Taylor′s formula,while redundant points in the covariance matrix were excluded in the calculation process to make it conform to the positive definite condition and improve the accuracy of the envelope.Finally,the proposed method was simulated and analyzed.The results show that the error of the envelope method compared with the Monte Carlo method is 0.5%~19.8%,which verifies the effectiveness of the method.http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2024.04.022Industrial robotKinematic reliabilityEnvelope methodNormal distribution |
| spellingShingle | LI ZiYi DING Li MA Rui DUAN JinJun MOTION RELIABILITY ANALYSIS OF A 6⁃DOF INDUSTRIAL ROBOT Jixie qiangdu Industrial robot Kinematic reliability Envelope method Normal distribution |
| title | MOTION RELIABILITY ANALYSIS OF A 6⁃DOF INDUSTRIAL ROBOT |
| title_full | MOTION RELIABILITY ANALYSIS OF A 6⁃DOF INDUSTRIAL ROBOT |
| title_fullStr | MOTION RELIABILITY ANALYSIS OF A 6⁃DOF INDUSTRIAL ROBOT |
| title_full_unstemmed | MOTION RELIABILITY ANALYSIS OF A 6⁃DOF INDUSTRIAL ROBOT |
| title_short | MOTION RELIABILITY ANALYSIS OF A 6⁃DOF INDUSTRIAL ROBOT |
| title_sort | motion reliability analysis of a 6⁃dof industrial robot |
| topic | Industrial robot Kinematic reliability Envelope method Normal distribution |
| url | http://www.jxqd.net.cn/thesisDetails#10.16579/j.issn.1001.9669.2024.04.022 |
| work_keys_str_mv | AT liziyi motionreliabilityanalysisofa6dofindustrialrobot AT dingli motionreliabilityanalysisofa6dofindustrialrobot AT marui motionreliabilityanalysisofa6dofindustrialrobot AT duanjinjun motionreliabilityanalysisofa6dofindustrialrobot |