Abstract
The multiple manipulators can construct a special multi-agent system with the distinction that the type can be serial or parallel according to their cooperative way. We proposed a comprehensive method to handle the problem of reliability estimation. The wide and narrow bound method are applied to calculate the interval reliability respectively when multiple manipulators work as the series system. Aims to decrease the system complexity and enhance the dynamic adjustment capability, the base frame calibration technique is presented to convert the series system to a parallel one, naturally the reliability can be improved significantly. A system composed by three manipulators is utilized as an example to illustrate the feasibility of the proposed method.
Highlights
Manipulators have a wide range of applications in industry because of their high efficiency, accuracy and easy operation
The purpose of our work is to analyze the reliability of a multimanipulator system from the novel perspective of kinematics which is quite different from the traditional dynamic analysis
(1) Interval reliability estimation is suitable for the multi-manipulator system
Summary
Manipulators have a wide range of applications in industry because of their high efficiency, accuracy and easy operation. They are often used in the field of transportation, gripping and assembling etc. Analyzing the behavior of a manipulator with consideration of parameter uncertainties and evaluating the reliability appropriately can be significant issues. Kim et al [12] focused on the analysis of impact caused by joint clearance, all the variables were treated as normally distributed and the first order reliability method (FORM) was applied. With integration of the second order Taylor expansion and an entropy-based optimization approach, Wang et al [27] analyzed the reliability of a manipulator when confronted with arbitrarily distributed joint clearance
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