Motion reliability evaluation of six-axes robot based on non-probability interval theory

摘要

The error of position and posture of a robot end operator can affect the posture positioning accuracy. Therefore, an analysis study of motion reliability is important for ensuring the motion safety and normal operation of robots. Considering the effects of the link size deviations and joint clearance on the robot end operator, the error model of position and posture were analysed based on the non-probability interval theory. Then the time-varying motion reliability evaluation model of the robot was established using non-probability interval theory, and the motion reliability variation of the robot during trajectory points was obtained. The optimum design of the robot model was established by taking the deviations of the link size deviations and joint clearance as the optimisation variables, and reasonable ranges of link parameters were determined. The proposed analysis method lays a foundation for further upgrading the robot end operator's position and posture accuracy.