RELIABILITY ANALYSIS ON TWO-LINK FLEXIBLE ROBOT MANIPULATOR WITH RANDOM PARAMETERS

The Lagrange dynamic differential equations and the assumed mode method were combined to establish a model of two-link flexible robot manipulator considering the friction force in the joints. Considering the influence of stochastic factors, the random factor method was embedded into the stochastic response surface method to improve the reliability analysis method of two-link flexible robot manipulator with multiple stochastic inputs. The system performance functions of strength, stiffness and the motion function were developed. The rationality and feasibility of the modeling and the method presented were verified by a case study, and the reliability of the system was predicted. The results demonstrate the proposed method can achieve high accuracy and efficiency compared with Monte-Carlo method, while the randomicity of geometrical parameters has greater effect on the system reliability.