Extremum response surface method of reliability analysis on two-link flexible robot manipulator |
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Authors: | Chun-yi Zhang and Guang-chen Bai |
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Affiliation: | [1]School of Jet Propulsion, Beijing University of Aeronautics and Astronautics, Beijing 100191, China [2]School of Mechanical and Power Engineering, Harbin University of Science and Technology, Harbin 150080, China |
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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. |
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Keywords: | reliability Monte Carlo method extremum response surface function flexible manipulator dynamic strength dynamicstiffness |
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