RELIABILITY ANALYSIS OF ROBOT MANIPULATORS.

P. K. Bhatti, S. S. Rao

Research output: Contribution to journalArticle

35 Scopus citations

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 is 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.

Original languageEnglish (US)
Pages (from-to)175-181
Number of pages7
JournalJournal of mechanisms, transmissions, and automation in design
Volume110
Issue number2
DOIs
StatePublished - Jan 1 1988
Externally publishedYes

ASJC Scopus subject areas

  • Engineering(all)

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