Non-Probabilistic Reliability Analysis of Robot Accuracy under Uncertain Joint Clearance

The development of industrial robots in high-precision fields is currently constrained by the reliability motion. Considering influence joint clearance on motion robot, kinematic model robot established, equation deduced, and positive solutions are performed. non-probability positioning accuracy measure a end-effector proposed, based theory method, combined with prescribed permission interval error interval, different states can be judged according to position relationship, properties outlined, assessment established. Combined modeling theory, simulation under six clearances carried out, displacement preset path analyzed for problem. split time, end effector moves workspace areas time periods. each segment analyzed, it concluded that uncertain parameters changes working regions. Based above, research direction space division partition parameter calibration which lays foundation study non-probabilistic workspace.