Paper Title:

Reliability Analysis of a Robot Manipulator Operation Employing Single Monte-Carlo Simulation

Periodical Key Engineering Materials (Volumes 321 - 323)
Main Theme Advanced Nondestructive Evaluation I
Edited by Seung-Seok Lee, Joon Hyun Lee, Ik Keun Park, Sung-Jin Song, Man Yong Choi
Pages 1568-1571
DOI 10.4028/www.scientific.net/KEM.321-323.1568
Citation Dong Hwan Choi et al., 2006, Key Engineering Materials, 321-323, 1568
Online since October, 2006
Authors Dong Hwan Choi, Hong Hee Yoo
Keywords Joint Clearance, Monte-Carlo Simulation, Operation Error, Reliability Analysis, Robot Manipulator, Sensitivity Information, Tolerance
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Abstract

The operation error of a robot that occurs inevitably due to the manufacturing tolerance needs to be controlled within a certain range to achieve proper performance of the robot system. The reduction of manufacturing tolerance, however, increases the manufacturing cost in return. Therefore, design engineers try to solve the problem of maximizing the tolerance to reduce the manufacturing cost while minimizing the operation error to satisfy the performance requirement. In the present study, a revolute joint model considering uncertainties due to joint clearance is employed to perform a reliability analysis of the robot manipulator operation. The reliability analysis procedure employs single Monte-Carlo simulation and a statistical relation between the tolerance and the operation error. Significant reduction of computing time can be achieved with the proposed method. The present method is especially effective if sensitivity information is hard to be obtained for the analysis.