Extremum response surface method of reliability analysis on two-link flexible robot manipulator

Abstract

In order to present a new method for analyzing the reliability of a two-link flexible robot manipulator, Lagrange dynamics differential equations of the two-link flexible robot manipulator were established by using the integrated modal method and the multi-body system dynamics method. By using the Monte Carlo method, the random sample values of the dynamic parameters were obtained and Lagrange dynamics differential equations were solved for each random sample value which revealed their displacement, speed and acceleration. On this basis, dynamic stresses and deformations were obtained. By taking the maximum values of the stresses and the deformations as output responses and the random sample values of dynamic parameters as input quantities, extremum response surface functions were established. A number of random samples were then obtained by using the Monte Carlo method and then the reliability was analyzed by using the extremum response surface method. The results show that the extremum response surface method is an efficient and fast reliability analysis method with high-accuracy for the two-link flexible robot manipulator.

Keywords

reliability / Monte Carlo method / extremum response surface function / flexible manipulator / dynamic strength / dynamic stiffness

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