INVESTIGATION ON VELOCITY PERFORMANCE DEVIATION OF SERIAL MANIPULATORS RESULTED FROM FABRICATION ERRORS

Kuei-Jen Cheng and Pi-Ying Cheng

References

  1. [1] P.K. Bhatti and S.S. Rao, Reliability analysis of robot manip-ulators, ASME Journal of Mechanisms, Transmissions, andAutomation in Design, 110, 1988, 175–181.
  2. [2] Y.H. Andrew Liou, P.P. Lin, R. R. Lindeke, and H.D. Chiang,Tolerance specification of robot kinematic parameters using anexperimental design technique – the Taguchi method, Robotics& Computer-Integrated Manufacturing, 10, 1993, 199–207.
  3. [3] T.S. Liu and J.D. Wang, A reliability approach to evaluatingrobot accuracy performance, Mechanism and Machine Theory,29(1), 1994, 83–94.
  4. [4] Z. Shi, Reliability analysis & synthesis of robot manipula-tors, Proc. Annual Reliability and Maintainability Symposium,Anaheim, California, 1994, 201–205.
  5. [5] J.C. Musto and G.N. Saridis, Task reliability assessment inrobotic systems, Journal of Robotic Systems, 12(9), 1995,583–598.
  6. [6] S.S. Rao and P.K. Bhatti, Probabilistic approach to manip-ulator kinematics and dynamics, Reliability Engineering andSystem Safety, 72, 2001, 47–58.
  7. [7] P.S. Shiakolas, K.L. Conrad, and T.C. Yih, On the accuracy,reliability, and degree of influence of kinematics parametersfor industrial robots, International Journal of Modeling andSimulation, 3, 2002, 1–10.
  8. [8] B.K. Rout and R.K. Mittal, Tolerance design of robot param-eters using Taguchi method, Mechanical Systems and SignalProcessing, 20, 2006, 1832–1852.
  9. [9] W. Wu and S.S. Rao, Uncertainty analysis and allocationof joint tolerances in robot manipulators based on intervalanalysis, Reliability Engineering and System Safety, 92, 2007,54–64.
  10. [10] K. Jayaram and K. Sankaranarayanasamy, Tolerance synthesisof robot dynamic parameters using artificial neutral networks,Manufacturing Engineering, 4(6), 2007, 69–72.
  11. [11] B.K. Rout and R.K. Mittal, Tolerance design of manipulatorparameters using design of experiment approach, Structuraland Multidisciplinary Optimization, 34, 2007, 445–462.
  12. [12] J.-P. Merlet, Interval analysis and reliability in robotics, In-ternational Journal of Reliability and Safety, 3(1–3), 2009,104–130.331
  13. [13] J. Kim, W.-J. Song, and B.-S. Kang, Stochastic approach tokinematic reliability of open-loop mechanism with dimensionaltolerance, Applied Mathematical Modelling, 34, 2010, 1225–1237.
  14. [14] J. Wang, J. Zhang, and X. Du, Hybrid dimension reduction formechanism reliability analysis with random joint clearances,Mechanism and Machine Theory, 46, 2011, 1396–1410.
  15. [15] Z. Sun, T. Yu, W. Cui, and B. Song, Reliability analysisfor close position accuracy of gear door mechanism basedon importance sampling, Proc. Annual IEEE InternationalConference on Quality, Reliability, Risk, Maintenance, andSafety Engineering, Xi’an, China, 2011, 168–172.
  16. [16] M.D. Pandey and X. Zhang, System reliability analysis of therobotic manipulator with random joint clearances, Mechanismand Machine Theory, 58, 2012, 137–152.
  17. [17] Y.S. Feng, The development of a theory of mechanism reli-ability, Reliability Engineering and System Safety, 41, 1993,95–99.
  18. [18] Z. Huang and T. Shi, The motion accuracy reliability researchof hydraulic amplifier mechanism in naval ships, Proc. An-nual 2011 IEEE International Conference on Electronic &Mechanical Engineering and Information Technology, Harbin,Heilongjiang, China, 2011, 2777–2780.
  19. [19] S.A. Hayati, Robot arm geometric link parameter estimation,Proc. 22nd IEEE International Conference on Decision andControl, San Antonio, Texas, 1983, 1477–1483.
  20. [20] W.K. Veitchegger and C.-H. Wu, Robot accuracy analysis basedon kinematics, IEEE Journal of Robotics and Automation,2(3), 1986, 171–179.
  21. [21] W.K. Veitchegger and C.-H. Wu, Robot calibration and com-pensation, IEEE Journal of Robotics and Automation, 4(6),1988, 643–656.
  22. [22] K.-J. Cheng and P.-Y. Cheng, The investigation of the maneu-verability deterioration based on acceleration radius theory,Mechatronics, 19, 2009, 1211–1220.
  23. [23] T. Yoshikawa, Manipulability of robotic mechanisms, TheInternational Journal of Robotics Research, 4(2), 1985, 3–9.
  24. [24] R. Coeppe and T. Yoshikawa, Dynamic manipulability analysisof compliant motion, Proc. Annual International Conferenceon Intelligent Robots and Systems, Grenoble, France, 1997,1472–1478.
  25. [25] S.R. Ploen, A skew-symmetric form of the recursive Newton–Euler algorithm for the control of multibody systems, Proc. An-nual American Conference on Control, San Diego, California,1999, 3770–3773.
  26. [26] J. K¨ovecses, R.G. Fenton, and W.L. Cleghorn, Effects ofjoint dynamics on the dynamic manipulability of geared robotmanipulators, Mechatronics, 11, 2001, 43–58.
  27. [27] K. Abdel-Malek, W. Yu, and J. Yang, Placement of robotmanipulators to maximize dexterity, International Journal ofRobotics and Automation, 19(1), 2004, 6–15.

Important Links:

Go Back