The motion reliability analysis of a series system with multiple coordinated manipulators

Abstract

Coordinated manipulators can construct a series system, such that all the position error of the end-effector is required to remain within the permissible limit. This article proposed a new method to handle the problem of reliability analysis involving in multiple failure modes. The extreme value of the position error is introduced to construct a surrogate model to replace the original failure event, the moment with fraction order instead of the traditional integer is applied to derive the best-fit distribution of the extreme value based on the maximum entropy principle. The innovations mainly include: (1) the high efficient dimension reduction via the surrogate model constructed with the extreme value and (2) a better probability density function is derived through the fractional moment. A series system consists of three manipulators is used as an example to demonstrate the efficiency and accuracy of the proposed method.