Abstract
The concept of manipulator reliability is useful in obtaining a statistical measure of the manipulator dynamic performance based on the deflections of the end-effector. Considerations of link flexibility and inertial effects are important for estimating end-effector errors due to self-weight and payload. Three-dimensional (3D) beam elements, direct stiffness formulation of the finite element method, kinematic pair modelling, effects of friction at the joints, and inertial effects have been considered for analysis to compute the dynamic deflections of the end-effector. Reliability estimation of a manipulator with 5 R and I P pairs performing an assembly task is given as an example based on the elastic deflections of the end-effector.
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