Title :
Reliability analysis of a two-link flexible robot manipulator
Author :
Chunyi, Zhang ; Guangchen, Bai
Author_Institution :
School of Jet Propulsion, Beijing University of Aeronautics & Astronautics, 100191, China
Abstract :
The aim of this research is to present a method for analyzing the reliability of the dynamic strength and dynamic stiffness of a two-link flexible robot manipulator (TFRM). Lagrange dynamics differential equations of TFRM were established using integrated modal method and multi-body system dynamics method. On that basis the dynamic deformation model, dynamic stress model and reliability model of dynamic strength and dynamic stiffness were established. Moreover, by using the Monte Carlo method, the samples of the dynamic parameters of TFRM were obtained. The dynamic deformation and dynamic stress were calculated. The reliability of dynamic strength and dynamic stiffness were analyzed. In the analysis, random variables included the component section sizes, the material strength, the material density and Elastic modulus.
Keywords :
Aerodynamics; Manipulator dynamics; Materials; Mathematical model; Reliability; Stress; Dynamic Strength; Dynamic stiffness; Flexible Manipulator; Monte Carlo Method; Reliability;
Conference_Titel :
Information Science and Engineering (ICISE), 2010 2nd International Conference on
Conference_Location :
Hangzhou, China
Print_ISBN :
978-1-4244-7616-9
DOI :
10.1109/ICISE.2010.5690684