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

In: Advances in Reliability and Maintainability Methods and Engineering Applications

Author

Listed:
  • Dequan Zhang

    (Hebei University of Technology)

  • Shuoshuo Shen

    (Hebei University of Technology)

  • Xu Han

    (Hebei University of Technology)

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.

Suggested Citation

  • Dequan Zhang & Shuoshuo Shen & Xu Han, 2023. "Moment Estimation-Based Method of Motion Accuracy Reliability Analysis for Industrial Robots," Springer Series in Reliability Engineering, in: Yu Liu & Dong Wang & Jinhua Mi & He Li (ed.), Advances in Reliability and Maintainability Methods and Engineering Applications, pages 49-81, Springer.
    • Handle: RePEc:spr:ssrchp:978-3-031-28859-3_3
    DOI: 10.1007/978-3-031-28859-3_3
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