RESEARCH PAPER
A calibration-based method for interval reliability analysis of the multi-manipulator system
| 1 | Zhejiang Sci-Tech University, Faculty of Mechanical Engineering & Automation, Hangzhou, China, 310018 |
| 2 | Zhejiang University, School of Mechanical Engineering, State Key Laboratory of Fluid Power and Mechatronic Systems, Hangzhou, China, 310027 |
| 3 | Zhejiang Institute of Mechanical & Electrical Engineering, Hangzhou, China, 310053 |
| 4 | Zhejiang University, Engineering Research Center for Design Engineering and Digital Twin of Zhejiang Province, School of Mechanical Engineering, Hangzhou, China, 310027 |
Publication date: 2022-03-31
Eksploatacja i Niezawodność – Maintenance and Reliability 2022;24(1):42–52
HIGHLIGHTS
- Numerical evaluation of reliability for multimanipulators system from the new perspective of kinematics.
- Efficient conversion from the series system to the parallel system via the base frame calibration.
- Significant improvement of reliability based on the establishing connections among all the manipulators.
KEYWORDS
ABSTRACT
The multiple manipulators can construct a special multi-agent system with the distinction that the type can be serial or parallel according to their cooperative way. We proposed a comprehensive method to handle the problem of reliability estimation. The wide and narrow bound method are applied to calculate the interval reliability respectively when multiple manipulators work as the series system. Aims to decrease the system complexity and enhance the dynamic adjustment capability, the base frame calibration technique is presented to convert the series system to a parallel one, naturally the reliability can be improved significantly. A system composed by three manipulators is utilized as an example to illustrate the feasibility of the proposed method.
REFERENCES (32)
1.
Abdul RS, Norsinnira ZA and Khan MR. Kinematics Analysis and Trajectory Validation of Two Cooperative Manipulators Handling a Flexible Beam,2019 7th International Conference on Mechatronics Engineering (ICOM), Putrajaya, Malaysia, 2019, 1-6, http://doi.org/10.1109/ICOM477....
2.
Aldo J, Muoz-V, Juan D, et al. Predefined-time control of cooperative manipulators. International Journal of Robust and Nonlinear Control 2020; 16(8): 1–12, https://doi.org/10.1002/rnc.51....
3.
Bichon BJ,Mcfarland JM and Mahadevan S. Efficient surrogate models for reliability analysis of systems with multiple failure modes. Reliability Engineering & System Safety 2011; 96(10): 1386-1395, http://dx.doi.org/10.1016/j.re....
4.
Carlos G and Rosario D. Development of Trajectories Through the Kalman Algorithm and Application to an Industrial Robot in the Automotive Industry. IEEE Access 2019; 7(1): 23570-23578, https://doi.org/10.1109/ACCESS....
5.
Cornell CA. Bounds on reliability of structural systems. American Society of Civil Engineers Proceedings, Journal of the Structural Division 1967; 93(1): 171–200.
7.
Ditlevsen O. Narrow Reliability Bounds for Structural Systems. Journal of Structural Mechanics 1979; 7(4): 453-472, https://doi.org/10.1080/036012....
8.
Dohmann PBG ,Hirche S.Distributed Control for Cooperative Manipulation With Event-Triggered Communication. IEEE Transactions on Robotics 2020; 36(4): 1038-1052, https://doi.org/10.1109/TRO.20....
9.
Gallant M , Gosselin C . Singularities of a planar 3-RPR parallel manipulator with joint clearance. Robotica 2018; 36(7): 1-12, https://doi.org/10.1017/S02635....
10.
Gan YH, Dai XZ, Base frame calibration for coordinated industrial robots. Robotics & Autonomous Systems 2011; 59(8): 563-570, https://doi.org/10.1016/j.robo....
11.
Hohenbichler M , Rackwitz R. First-order concepts in system reliability. Structural Safety 1983; 1(3): 177-188, https://doi.org/10.1016/0167-4....
12.
Kim J, Song WJ and Kang BS. Stochastic approach to kinematic reliability of open-loop mechanism with dimensional tolerance. Applied Mathematical Modelling 2010; 34(5): 1225-1237, https://doi.org/10.1016/j.apm.....
13.
Kluz R, Kubit A, Sęp J, Trzepiecinski T. Effect of temperature variation on repeatability positioning of a robot when assembling parts with cylindrical surfaces. Eksploatacja i Niezawodnosc – Maintenance and Reliability 2018; 20 (4): 503–513, https://doi.org/10.17531/ein.2....
14.
Korayem AH , Nekoo SR and Korayem M H . Optimal sliding mode control design based on the state-dependent Riccati equation for cooperative manipulators to increase dynamic load carrying capacity. Robotica 2019; 37(2):321-337, https://doi.org/10.1017/S02635....
15.
Liang X, Wang H , Liu Y H, et al. Adaptive Task-Space Cooperative Tracking Control of Networked Robotic Manipulators Without Task-Space Velocity Measurements. IEEE Transactions on Cybernetics 2016; 46(10): 2386-2398.
16.
Liu XY, Zhang P, Du G L. Hybrid adaptive impedance-leader-follower control for multi-arm coordination manipulators. Industrial Robot 2016; 43 (1): 112–120, https://doi.org/10.1108/IR-05-....
17.
Pandey MD and Zhang X. System reliability analysis of the robotic manipulator with random joint clearances. Mechanism & Machine Theory 2012; 58(3): 137-152, https://doi.org/10.1016/j.mech....
18.
Płaczek M and Piszczek Ł. Testing of an industrial robot's accuracy and repeatability in off and online environment. Eksploatacja i Niezawodnosc - Maintenance and Reliability 2018; 20(3): 455–464, https://doi.org/10.17531/ein.2....
19.
Qiu ZP , Yang D , Elishakoff I. Probabilistic interval reliability of structural systems. International Journal of Solids & Structures 2008; 45(10): 2850-2860, https://doi.org/10.1016/j.ijso....
20.
Rao SS and Bhatti PK. Probabilistic approach to manipulator kinematics and dynamics. Reliability Engineering & System Safety 2001; 72(1): 47-58, https://doi.org/10.1016/S0951-....
21.
Safaei N, Tavakkoli MR, Sassani F. A series—parallel redundant reliability system for cellular manufacturing design. Proceedings of the Institution of Mechanical Engineers, Part O: Journal of Risk and Reliability 2009; 223(3): 233-250, https://doi.org/10.1243/174800....
22.
Selçuk E. Experimental investigation of flexible connection and clearance joint effects on the vibration responses of mechanisms. Mechanism & Machine Theory 2018; 121(6): 515-529, https://doi.org/121:515-529.10....
23.
Temraz NSY . Availability and reliability of a parallel system under imperfect repair and replacement: analysis and cost optimization]. International Journal of System Assurance Engineering and Management 2019; 10(5): 1002-1009, https://doi.org/10.1007/s13198....
24.
Thummaros R, Gang T. An adaptive actuator failure compensation scheme for a cooperative manipulator system. Robotica 2016; 34(7): 1529-1552, https://doi.org/10.1017/S02635....
25.
Wang J, Wang W, et al. A Plane Projection Based Method for Base Frame Calibration of Cooperative Manipulators. IEEE Transactions on Industrial Informatics 2019; 15(3): 1688-1697, https://doi.org/10.1109/TII.20....
26.
Wang J , Zhang J, Fand Du XP. Hybrid dimension reduction for mechanism reliability analysis with random joint clearances. Mechanism & Machine Theory 2011; 46(10): 1396-1410, https://doi.org/10.1016/j.mech....
27.
Wei W, Jin W, Jian H F, et al. A moment-matching based method for the analysis of manipulator's repeatability of positioning with arbitrarily distributed joint clearances. Eksploatacja i Niezawodnosc - Maintenance and Reliability 2019; 21 (1):10–20, https://doi.org/10.17531/ ein.2019.1.2.
28.
Xie L , Wu N and Qian W. Time domain series system definition and gear set reliability modeling. Reliability Engineering & System Safety 2016; 155(11): 97-104, https://doi.org/10.1016/j.ress....
29.
Zaeh MF and Roesch O. Improvement of the machining accuracy of milling robots. Production Engineering 2014; 8(6): 737-744, https://doi.org/10.1007/s11740....
30.
Zhao Q, Guo J and Hong J. Time-dependent system kinematic reliability analysis for planar parallel manipulators. Mechanism and Machine Theory 2020; 152(6): 1-22, https://doi.org/10.1016/j.mech....
31.
Zhao X, Ma M, Li B, et al. Structural Design and Analysis of 3-DOF Manipulator for Spraying Operation. 2019 IEEE International Conference on Mechatronics and Automation (ICMA), Tianjin, China, 2019: 572-577, https://doi.org/10.1109/ICMA.2....
32.
Zhang Z, Jiang C, Ruan XX, et al. A novel evidence theory model dealing with correlated variables and the corresponding structural reliability analysis method. Structural & Multidisciplinary Optimization 2017; 57: 1749–1764, https://doi.org/10.1007/s00158....
CITATIONS (1):
1.
Accuracy and reliability of BeiDou clocks
Katarzyna Chwedczuk, Ciro Gioia, Bogdan Skorupa, Kamil Maciuk
Journal of Applied Geodesy
Katarzyna Chwedczuk, Ciro Gioia, Bogdan Skorupa, Kamil Maciuk
Journal of Applied Geodesy
We process personal data collected when visiting the website. The function of obtaining information about users and their behavior is carried out by voluntarily entered information in forms and saving cookies in end devices. Data, including cookies, are used to provide services, improve the user experience and to analyze the traffic in accordance with the Privacy policy. Data are also collected and processed by Google Analytics tool (more).
You can change cookies settings in your browser. Restricted use of cookies in the browser configuration may affect some functionalities of the website.
You can change cookies settings in your browser. Restricted use of cookies in the browser configuration may affect some functionalities of the website.