Search for Author, Title, Keyword
A moment-matching based method for the analysis of manipulator’s repeatability of positioning with arbitrarily distributed joint clearances
More details
Hide details
State Key Laboratory of Fluid Power & Mechatronic Systems Zhejiang University, Zhe Da Road, Hangzhou Zhejiang, 310027, P.R.China
Publication date: 2019-03-31
Eksploatacja i Niezawodność – Maintenance and Reliability 2019;21(1):10–20
The joint clearance can be the mainly concern factor in the analysis of repeatability of positioning for a manipulator. Traditionally, the joint clearance is empirically assumed to be uniform or normal variables. This hasty treatment may be not accurate enough when the precise statistic information of variables cannot be obtained. To handle the reliability evaluation problem with arbitrarily distributed joint clearances, a moment-matching based method is proposed. The highly nonlinear performance function is firstly established by the forward kinematics and then a second order Taylor expansion is performed on this function for the order reduction. Based on the maximum entropy principle, the Lagrange multipliers method is employed to derive a best-fit probability density function (PDF) with consideration of the first four moments-matching restrictions. This study shows that the prosed method can acquire a better accuracy and efficiency compared with the first order second moment method (FOSM), first order reliability method (FORM) and Monte Carlo simulation (MCS). A serial manipulator is applied as an example to demonstrate the new method.
Abele E, Weigold M and Rothenbücher S. Modeling and Identification of an Industrial Robot for Machining Applications. CIRP Annals - Manufacturing Technology. 2007; 56(1): 387-390,
Bowling AP, Renaud JE, Newkirk JT and Patel NM. Reliability-Based Design Optimization of Robotic System Dynamic Performance. Ieee/ rsj International Conference on Intelligent Robots and Systems. 2007, p. 3611-3617,
Cheng J, Li QS and Xiao R. A new artificial neural network-based response surface method for structural reliability analysis. Probabilistic Engineering Mechanics. 2008; 23(1): 51-63,
Choi DH and Yoo HH. Reliability Analysis of a Robot Manipulator Operation Employing Single Monte-Carlo Simulation. Key Engineering Materials. 2006; 321(6): 1568-1571,
Craig JJ. Introduction to robotics. Addison-Wesley, 2010, p.2187-2195.
Deng J, Gu D, Li X and Yue ZQ. Structural reliability analysis for implicit performance functions using artificial neural network. Structural Safety. 2005; 27(1): 25-48.
Du X. Time-Dependent Mechanism Reliability Analysis With Envelope Functions and First-Order Approximation. Journal of Mechanical Design. 2014; 136(136): 1-32,
Du X, Sudjianto A and Chen W. An Integrated Framework for Optimization Under Uncertainty Using Inverse Reliability Strategy. Journal of Mechanical Design. 2004; 126(4): 562-570, 10.1115/1.1759358.
Erkaya S. Investigation of joint clearance effects on welding robot manipulators. Robotics and Computer-Integrated Manufacturing. 2012; 28(4): 449-457,
Gomes HM and Awruch AM. Comparison of response surface and neural network with other methods for structural reliability analysis. Structural Safety. 2004; 26(1): 49-67, (03)00022-5.
Jaynes ET. Information Theory and Statistical Mechanics. Physical Review. 1957; 106(4): 620-630.
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,
Liu TS and Wang JD. A reliability approach to evaluating robot accuracy performance. Mechanism & Machine Theory. 1994; 29(1): 83-94,
Luo K and Du X. Probabilistic mechanism analysis with bounded random dimension variables. Mechanism & Machine Theory. 2013; 60(1): 112-121,
Nubiola A and Bonev IA. Absolute calibration of an ABB IRB 1600 robot using a laser tracker. Robotics and Computer-Integrated Manufacturing. 2013; 29(1): 236-245,
Pandey MD and Zhang X. System reliability analysis of the robotic manipulator with random joint clearances. Mechanism & Machine Theory. 2012; 58(3): 137-152,
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,
Rao SS and Bhatti PK. Probabilistic approach to manipulator kinematics and dynamics. Reliability Engineering & System Safety. 2001; 72(1): 47-58,
Shen H, Lin T, Chen S and Li L. Real-Time Seam Tracking Technology of Welding Robot with Visual Sensing. Journal of Intelligent & Robotic Systems. 2010; 59(3): 283-298,
Wang J, Zhang J and Du X. Hybrid dimension reduction for mechanism reliability analysis with random joint clearances. Mechanism & Machine Theory. 2011; 46(10): 1396-1410,
Yang Z and Zheng FB. Dynamics analysis of space robot manipulator with joint clearance. Acta Astronautica. 2011; 68(8): 1147-1155,
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/s11740-014-0558-7.
Zhan Z, Zhang X, Jian Z and Zhang H. Error modelling and motion reliability analysis of a planar parallel manipulator with multiple uncertainties. Mechanism & Machine Theory. 2018; 124(5): 55-72,
Zhang J, Wang J and Du X. Time-dependent probabilistic synthesis for function generator mechanisms. Mechanism & Machine Theory. 2011; 46(9): 1236-1250,
Zhang Y, He X, Yang Z, Liu Q and Wen B. Reliability-based sensitivity of mechanical components with arbitrary distribution parameters. Journal of Mechanical Science & Technology. 2010; 24(6): 1187-1193,
Zhu J and Ting KL. Uncertainty analysis of planar and spatial robots with joint clearances. Mechanism & Machine Theory. 2000; 35(9): 1239-1256,
Zou WT, Wang ZG and Zhang JF. Point kinematics reliability of planar function mechanisms with joint clearance. Chinese Journal of Engineering Design. 2013; 26(2): 2-9.
Time-Dependent System Kinematic Reliability Analysis for Robotic Manipulators
Qiangqiang Zhao, Junkang Guo, Dingtang Zhao, Dewen Yu, Jun Hong
Journal of Mechanical Design
An adaptive PC-Kriging method for time-variant structural reliability analysis
Hang Nan, Hongshuang Li, Zhuocheng Song
Eksploatacja i Niezawodnosc - Maintenance and Reliability
Time-dependent system kinematic reliability analysis for planar parallel manipulators
Qiangqiang Zhao, Junkang Guo, Jun Hong
Mechanism and Machine Theory
A Novel Approach to Kinematic Reliability Analysis for Planar Parallel Manipulators
Qiangqiang Zhao, Junkang Guo, Dingtang Zhao, Dewen Yu, Jun Hong
Journal of Mechanical Design
Research of Parametric Modeling and Simulation Analysis Methods of Aero-engine’s Rear Variable Area Bypass Injector of Mapping Dispersive Dimension Based on ADAMS
Shaoping Ye, Jia Li, Liyang Xie, Rui Song, Wang Yi
Journal of Physics: Conference Series
Unified motion reliability analysis and comparison study of planar parallel manipulators with interval joint clearance variables
Zhenhui Zhan, Xianmin Zhang, Haodong Zhang, Gengchao Chen
Mechanism and Machine Theory
A calibration-based method for interval reliability analysis of the multi-manipulator system
Wei Wang, Shuangyao Liu, Jin Wang, Guodong Lu
Eksploatacja i Niezawodność – Maintenance and Reliability
Uncertainty propagation in structural reliability with implicit limit state functions under aleatory and epistemic uncertainties
Shuang Zhou, Jianguo Zhang, Lingfei You, Qingyuan Zhang
Eksploatacja i Niezawodność – Maintenance and Reliability