대한기계학회논문집 (Transactions of the Korean Society of Mechanical Engineers)
- 제18권9호
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- Pages.2257-2264
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- 1994
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- 1225-5963(pISSN)
DOI QR Code
2관절 로봇팔의 공차로 인한 신뢰도 해석
Reliability Analysis of a Two-Link Robot Manipulator Due to Tolerances
초록
A method to evaluate the position performance for a stochastically defined planar robot manipulator is presented. Performance is defined as the operational reliability based upon the positional errors of the manipulator tip. An analytical method is developed and applied to a two-link robot manipulator through forward kinematics. This study includes uncertainties in the link length, pin center location and radial clearance. By virtue of the effective link length model, only the nominal manipulator model and statistical information on the uncertainties are required. The results from the analytical method is compared to those from the Monte Carlo simulation.
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