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COBEM 2021
26th International Congress of Mechanical Engineering
GLOBAL KINEMATIC RELIABILITY INDEX OF ROBOTIC MANIPULATORS
Submission Author:
Fabian Andres Lara-Molina , MG , Brazil
Co-Authors:
Fabian Andres Lara-Molina, Edson Hideki Koroishi
Presenter: Fabian Andres Lara-Molina
doi://10.26678/ABCM.COBEM2021.COB2021-0032
Abstract
This paper proposes a performance criterion to evaluate the kinematic accuracy of robotic manipulators based on reliability concepts. This proposed performance index applies kinematic reliability concepts to analyze how the kinematic error of the joint clearances affects the kinematic accuracy of the end-effector over a required workspace. The proposed global kinematic reliability criterion is applied to analyze the serial 3R serial manipulator with joint clearances.
Keywords
Kinematics, Robotics, reliability, uncertainty, performance index
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