Non-Probabilistic Reliability Analysis of Robot Accuracy under Uncertain Joint Clearance

摘要

The development of industrial robots in high-precision fields is currently constrained by the reliability of motion. Considering the influence of the joint clearance on the motion reliability of the industrial robot, the kinematic model of the industrial robot is established, the kinematic equation of the robot is deduced, and positive kinematic solutions are performed. The non-probability positioning accuracy reliability measure of a robot end-effector is proposed, based on the non-probability theory and method, combined with the prescribed permission interval and error interval, and different states of reliability can be judged according to the position relationship, the non-probability reliability properties are outlined, and the positioning accuracy reliability assessment model is established. Combined with the joint clearance modeling theory, the simulation of the robot end-effector under the influence of six joint clearances is carried out, and the displacement error interval of the end-effector under the preset motion path is analyzed for the industrial robot motion reliability problem. The motion path is split by time, and the end effector moves to different workspace areas in different time periods. The motion reliability of each segment is analyzed, and it is concluded that the reliability of the end-effector under the influence of uncertain joint clearance parameters changes in different working regions. Based on the above, the research direction of space division and partition parameter calibration is proposed, which lays a foundation for the study of partition non-probabilistic calibration of robot workspace.