System reliability analysis of the robotic manipulator with random joint clearances

被引：100
作者：
Pandey, Mahesh D. [1 ]
Zhang, Xufang [1 ]
机构：
[1] Univ Waterloo, Dept Civil & Environm Engn, Waterloo, ON N2L 3G1, Canada
来源：
MECHANISM AND MACHINE THEORY | 2012年 / 58卷
基金：
加拿大自然科学与工程研究理事会;
关键词：
System reliability; Robotic manipulator; Extreme value distribution; Maximum entropy principle; Fractional moments; Monte Carlo simulation; PROBABILISTIC APPROACH; MECHANISM RELIABILITY; FRACTIONAL MOMENTS; ENTROPY; INFORMATION; DENSITIES; DYNAMICS;
D O I：
10.1016/j.mechmachtheory.2012.08.009
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
The paper presents an innovative method for computing reliability of a robotic manipulator such that the positional error in the entire trajectory remains within acceptable limits. This problem is equivalent to a series system reliability analysis that can be solved using the extreme value distribution of the positional error. The principle of maximum entropy is applied to derive this distribution. A novel feature of the analysis is the use of fractional moments, instead of integer moments commonly used in the entropy literature. The fractional moments are obtained from a small, simulated sample of positional error. Examples are presented to illustrate accuracy and efficiency of the proposed method. (C) 2012 Elsevier Ltd. All rights reserved.
引用
收藏
页码：137 / 152
页数：16
相关论文
共 24 条
123