A computational framework of kinematic accuracy reliability analysis for industrial robots

Abstract

A new computational method to evaluate comprehensively the positional accuracy reliability for single coordinate, single point, multipoint and trajectory accuracy of industrial robots is proposed using the sparse grid numerical integration method and the saddlepoint approximation method. A kinematic error model of end-effector is constructed in three coordinate directions using the sparse grid numerical integration method considering uncertain parameters. The first-four order moments and the covariance matrix for three coordinates of the end-effector are calculated by extended Gauss–Hermite integration nodes and corresponding weights. The eigen-decomposition is conducted to transform the interdependent coordinates into independent standard normal variables. An equivalent extreme value distribution of response is applied to assess the reliability of kinematic accuracy. The probability density function and probability of failure for extreme value distribution are then derived through the saddlepoint approximation method. Four examples are given to demonstrate the effectiveness of the proposed method. © 2020 Elsevier Inc.