Moment Estimation-Based Method of Motion Accuracy Reliability Analysis for Industrial Robots

Dequan Zhang, Shuoshuo Shen and Xu Han ()
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Dequan Zhang: Hebei University of Technology
Shuoshuo Shen: Hebei University of Technology
Xu Han: Hebei University of Technology

A chapter in Advances in Reliability and Maintainability Methods and Engineering Applications, 2023, pp 49-81 from Springer

Abstract: Abstract Comprehensive and effective assessment of motion accuracy reliability for industrial robot registers a crucial and lasting challenge. In order to ensure the precision performance of industrial robots, this study systematically investigates the reliability modeling and analysis. For kinematic accuracy reliability, a novel computational framework is proposed to comprehensively evaluate the reliability for kinematic positioning and trajectory accuracy of industrial robots, in which the motion error correlation quantification methods are developed. In terms of dynamics accuracy reliability, the rotational sparse grid method and the advanced mixed-degree cubature formula are inferred to evaluate statistical moments of industrial robots’ joint torque subject to multidimensional correlations among uncertain parameters. The computational performance of proposed methods is significantly improved compared to the traditional competitive approaches. The engineering practicability and proficiency of the proposed methods are verified by a series of industrial robot examples.

Keywords: Industrial robot; Kinematics; Dynamics; Reliability analysis method; Precision performance (search for similar items in EconPapers)
Date: 2023
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Persistent link: https://EconPapers.repec.org/RePEc:spr:ssrchp:978-3-031-28859-3_3

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DOI: 10.1007/978-3-031-28859-3_3

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