Reliability Analysis of Robot Manipulators

1988 ◽  
Vol 110 (2) ◽  
pp. 175-181 ◽  
Author(s):  
P. K. Bhatti ◽  
S. S. Rao
Keyword(s):  
Reliability Analysis ◽  
Robot Manipulators ◽  
Probabilistic Approach ◽  
Geometric Parameters ◽  
Robot Kinematics ◽  
Numerical Illustration ◽  
Accuracy And Repeatability

A probabilistic approach to robot kinematics is presented and the concept of manipulator reliability is introduced to obtain a better evaluation of the performance of manipulators. Techniques are presented to compute this reliability and its relationship to the geometric parameters such as tolerances and arm configuration are discussed. The aspects of accuracy and repeatability of manipulators are explained in terms of manipulator reliability. The reliability of a two-link planar manipulator and the Stanford arm are considered for numerical illustration.

Reliability Analysis of Robot Manipulators

1987 ◽  
Author(s):  
P. K. Bhatti ◽  
S. S. Rao
Keyword(s):  
Reliability Analysis ◽  
Robot Manipulators ◽  
Probabilistic Approach ◽  
Geometric Parameters ◽  
Robot Kinematics ◽  
Numerical Illustration ◽  
Accuracy And Repeatability

Abstract A probabilistic approach to robot kinematics is presented and the concept of manipulator reliability is introduced to obtain a better evaluation of the performance of manipulators. Techniques are presented to compute this reliability and its relationship to the geometric parameters such as tolerances and arm configuration are discussed. The aspects of accuracy and repeatability of manipulators are explained in terms of manipulator reliability. The reliability of a two-link planar manipulator and the Stanford arm are considered for numerical illustration.

Design Nomographs of Compression Helical Springs for Predetermined Reliability Levels

1981 ◽  
Vol 103 (2) ◽  
pp. 268-273
Author(s):  
My Dao Thien ◽  
M. Massoud
Keyword(s):  
Probabilistic Approach ◽  
Design Procedure ◽  
Axial Loading ◽  
Geometric Parameters ◽  
Computer Algorithms ◽  
Mean Values ◽  
Helical Springs ◽  
Reliability Level ◽  
Classical Design ◽  
Mission Success

This paper discusses a probabilistic approach for the design of Compression Closely Coiled Helical Springs subjected to periodic axial loading. The classical design procedure results in deterministic geometric parameters with tolerances normally chosen according to standards without due regard to their effects on the mission success as normally expressed by a reliability level. With the proposed design procedure, the engineer can specify nominal mean values for the geometric parameters and their tolerances according to a predetermined reliability level. Design nomographs are presented to help the engineer, in the early stages of design, to choose between many alternatives. Computer algorithms can easily be written to verify the final or optimum design.

Pose Accuracy Analysis of Robot Manipulators Based on Kinematics

2011 ◽  
Vol 201-203 ◽  
pp. 1867-1872 ◽  
Author(s):  
Jian Ye Zhang ◽  
Chen Zhao ◽  
Da Wei Zhang
Keyword(s):  
Matrix Theory ◽  
Robot Manipulators ◽  
Error Model ◽  
Robot Kinematics ◽  
Accuracy Analysis ◽  
Serial Link ◽  
End Effector ◽  
Surface Graph ◽  
Position And Orientation ◽  
Kinematics Parameters

The pose accuracy of robot manipulators has long become a major issue to be considered in its advanced application. An efficient methodology to generate the end-effector position and orientation error model of robotic manipulator has been proposed based on the differential transformation matrix theory. According to this methodology, a linear error model that described the end-effector position and orientation errors due to robot kinematics parameters errors has been presented. A computer program to generate the error model and perform the accuracy analysis on any serial link manipulator has been developed in MATLAB. This methodology and software are applied to the accuracy analysis of a Phantom Desktop manipulator. The positioning error of the manipulator in its workspace cross section (XOZ) has been plotted as 3D surface graph and discussed.

scholarly journals Reliability Analysis of St. Barbara’s Church in Otovice

2020 ◽  
Vol 868 ◽  
pp. 166-172
Author(s):  
Chandrashekhar Mahato ◽  
Pavel Kuklík
Keyword(s):  
Reliability Analysis ◽  
Reliability Index ◽  
Probabilistic Approach ◽  
Probability Of Failure ◽  
Structural Safety ◽  
Site Condition ◽  
Baroque Architecture ◽  
Material Parameters ◽  
Safety And Stability ◽  
Present Site

The Churches of the Broumov region are well known for their unique baroque architecture, distinct shapes, sizes, and constitutes an integral part of the Czech cultural heritage. The St. Barbara’s Church that has been studied in this article, is in the Otovice village of Broumov. It was built in the year 1726 by Bavarian architects Christoph Dientzenhofer and Kilian Ignaz and is significant because of its religious, artistic and historic values. The main objective of this study is to evaluate the structural safety and stability of St. Barbara’s Church based on a probabilistic approach. A deterministic assessment of the structure is carried out and the results are assessed concerning the present site condition. Depending upon the observed damages, a condition for failure is defined for the structure. The uncertainties in the material parameters are considered and reliability analysis is performed to determine the reliability index, probability of failure and influence of different material parameters in the structural stability.

scholarly journals Analysis of Basic Failure Scenarios of a Truss Tower in a Probabilistic Approach

2019 ◽  
Vol 9 (13) ◽  
pp. 2662 ◽  
Author(s):  
Wojciech Mochocki ◽  
Urszula Radoń
Keyword(s):  
Standard Deviation ◽  
Reliability Analysis ◽  
System Reliability ◽  
Probabilistic Approach ◽  
Random Variable ◽  
Structure Reliability ◽  
System Reliability Analysis ◽  
Steel Truss ◽  
Buckling Coefficient ◽  
The Impact

This paper concerns the system reliability analysis of steel truss towers. Due to failures of towers, the assessment of their reliability seems to be a very important problem. In the analysis, two cases are examined: when the buckling coefficient is a deterministic value and when it is a random variable. The impact of failures of single elements on the structure reliability was investigated. Calculations of the standard deviation of the capacity and reliability indexes were made using author-developed programs in the Mathematica environment.

Probabilistic Approach to Stability Analysis of a Reinforced Concrete Retaining Wall

2014 ◽  
Vol 1079-1080 ◽  
pp. 248-251
Author(s):  
David Pustka
Keyword(s):  
Computer Simulation ◽  
Monte Carlo ◽  
Reinforced Concrete ◽  
Stability Analysis ◽  
Structural Optimization ◽  
Reliability Analysis ◽  
Retaining Wall ◽  
Rapid Development ◽  
Probabilistic Approach ◽  
Simulation Monte Carlo

Rapid development of computer technologies brings possibility to exploitpowerful computers for reliability analysis of (civil) engineering structuresunder consideration of random properties of various quantities influencingtheir resulting reliabilities. Aim of this paper is to outline possibility ofutilization of computer simulation Monte Carlo to predict reliability of areinforced concrete retaining wall from the viewpoint of possible loss ofstability. One of advantages of this approach is possibility to quantifyprobability of failure allowing structural optimization leading to design ofmore effective structures.

scholarly journals A PROBABLISTIC APPROACH TO EVALUATION OF THE ULTIMATE LOAD ON FLEXURAL RC ELEMENT ON CRACK LENGTH

2020 ◽  
Vol 16 (1) ◽  
pp. 98-105
Author(s):  
Sergey Solovyev
Keyword(s):  
Reinforced Concrete ◽  
Stress Intensity ◽  
Crack Length ◽  
Reliability Analysis ◽  
Critical Stress ◽  
Probabilistic Approach ◽  
Structural Elements ◽  
Intensity Coefficient ◽  
Stress Intensity Coefficient ◽  
Concrete Elements

The fracture mechanics of concrete and reinforced concrete is a promising direction in the development of methods for reinforced concrete structural elements design and inspection. At the same time, probabilistic methods of design and behavior analysis of structural elements are of particular interest. The article describes a probabilistic approach to load-bearing capacity and reliability analysis of flexural reinforced concrete elements based on the crack length criterion. The functional relationship between the critical stress intensity coefficient of concrete and the design compressive strength of concrete is given. The article presents a method for the reliability analysis of flexural reinforced concrete elements at the operational stage with limited statistical data about the critical stress intensity coefficient of concrete. The ultimate value of the failure probability (or reliability index) should be set for each object individually based on the value of the acceptable risk.

scholarly journals Reliability Analysis of Resultant Stress for Unsymmetrical Columns for Stress Follow Exponential Distribution

2019 ◽  
Vol 8 (6S3) ◽  
pp. 1334-1337
Keyword(s):  
Tensile Stress ◽  
Reliability Analysis ◽  
Compressive Stress ◽  
Probabilistic Approach ◽  
Bending Stress ◽  
Maximum Compressive Stress ◽  
Eccentric Load ◽  
Component Reliability ◽  
Parameter Values ◽  
Resultant Stress

When a body is subjected to eccentric loads, the direct stress as well as bending stress is produced. Resultant stress is obtained by adding these two stresses. In this paper, probabilistic approach has been made for designing the structure of unsymmetrical column by finding suitable parameters length of outer square and length of a hole and eccentric load of the column to get the specified reliability of the structure of a body or component. Reliability analysis has been done at the point of maximum compressive stress occurred and at the point of minimum tensile stress occurred. Reliability computations have been obtained for changing the various parameter values. It is observed from the computations that Reliability of the component when compressive stress occurs at the edge AB increases with increasing of length of outer square, decrease of load, decrease of length of hole and increasing of eccentricity. Reliability of the component when tensile stress occurs at the edge CD increases with decrease of length of outer square increasing the length of a hole, decreases the load and decrease of eccentricity

scholarly journals Reliability of Latvian Power System’S 330 KV Substations

2014 ◽  
Vol 51 (3) ◽  
pp. 15-23 ◽  
Author(s):  
V. Nepomnyaschiy ◽  
J. Gerhards ◽  
A. Mahnitko ◽  
T. Lomane
Keyword(s):  
Power System ◽  
Electric Power ◽  
Reliability Analysis ◽  
Probabilistic Approach ◽  
Electric Power System ◽  
Topical Problem ◽  
Emergency Situations ◽  
Reliability Calculation ◽  
Substation Equipment ◽  
Electrical Substation

Abstract Substation reliability is always a topical problem. The authors consider the techniques for reliability calculation based on logical-probabilistic approach to the evaluation of electrical substation switchgear schemes and equipment at emergency situations with disconnections of individual elements of the substation equipment or false operation of relay protection and automation devices. Based on the reliability analysis made for the 330kV substations of Latvian Electric Power System, recommendations are given concerning the reconstruction of switchgear schemes for some substations

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