Reliability analysis of robot manipulators

P. K. Bhatti, S. S. Rao

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A probabilistic approach to robot. kinclllatics is resented and the conct'pt of manipulat.or reliability is introduced to obtain a bdt1 r !'Valuation of I.lie performance of manipulators. Tichniqucs are prcstmtcrl t.o compute this reliability and its relationship to t.lw geometric parameLers such as Lolerances and arm configuration are discussed. The aspects of accuracy and rep'atabilit,y of manipulators arE' explained in terms of manipulator reliability. The reliabilil.y of a two-link planar manipulator r1.11d the Stanford arm art' considered for numerical illustrat.iou.

Original languageEnglish (US)
Title of host publicationRobotics, Mechanisms, and Machine Systems
PublisherAmerican Society of Mechanical Engineers (ASME)
Pages45-53
Number of pages9
ISBN (Electronic)9780791897744
DOIs
StatePublished - 1987
Externally publishedYes
EventASME 1987 Design Technology Conferences, DETC 1987 - Boston, United States
Duration: Sep 27 1987Sep 30 1987

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume2

Conference

ConferenceASME 1987 Design Technology Conferences, DETC 1987
Country/TerritoryUnited States
CityBoston
Period9/27/879/30/87

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

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