Robot Workspace And Joint Movement Reliability Planning,

The workspaces of some robot in engineering field are analyzed in this dissertation. By studying the driving principle of the joint and types of gearing set in common use, the numerical characteristics of errors of some actual robots are analyzed with the method of statistics and probability. Then, according to the definition of the reliability about system motion, a model for evaluating the reliability of robot is established, and the related method for calculating the action reliability of robot is given.In robot's workspace, a frequency distribution of the action target can be used to represent the physic distribution of objects in relevant period. Deal with this operation frequency distribution as a characteristic parameter in robot kinematic plan, and the reliability of robot's motion is taken as an index for evaluating the performance of robot, the values of the reliability of robot's motion in its workspace with various kinds of the operation frequency distribution are calculated. Then the movement of robot in its workspace and the physic distribution of its operated objects are planned.