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A calibration-based method for interval reliability analysis of the multi-manipulator system
Wei Wang 1,2
Guodong Lu 2,4,2
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Zhejiang Sci-Tech University, Faculty of Mechanical Engineering & Automation, Hangzhou, China, 310018
Zhejiang University, School of Mechanical Engineering, State Key Laboratory of Fluid Power and Mechatronic Systems, Hangzhou, China, 310027
Zhejiang Institute of Mechanical & Electrical Engineering, Hangzhou, China, 310053
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
  • 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.
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.
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