Motion Reliability Simulation Based On ADAMS Of A Serial-link Robot

In modern times, robot has been the more important component of industrial, and robot can carry on preciously all kinds of work, what's more, safe measures and comfortable working conditions, which is necessary to people, are not necessary to robot. Thought robot is used widely, and is more and more recognized by people, by far, there is not an accurate definition about robot. Usually, we can define it by this: robot is a machine controlled by program, which has some function owned by people and animals, and can take place people to work. Serial-link robot is an robot that joints and links are linked serially, it's usually industrial robot, and can carry and assemble.Motion reliability, differently structure reliability and life reliability, is a new field in kinematics and dynamics of Mechanisms and a new title in mechanical engineering applications. Motion reliability focuses on studying mechanism's ability to complete expectant motion in time, accurately and in phase under the condition of set qualification and time. When the ability is measured by probability, it is called reliability, which is an important standard to estimate quality of mechanical system.The main content of this thesis is to research motion reliability simulation of a serial-link robot. Regarding a familiar industrial PUMA560 robot as study object, and regarding ADAMS, a virtual prototyping simulation analysis software, as a platform, and regarding VC++, a calculation program software by Microsoft, as a tool to analysis, Under the condition of considering only dimension error and considering simultaneously dimension and clearance error separately, simulating the reliability problems of displacement, velocity and acceleration of the end of robot manipulator, and comparing simulation result with the standard simulation result with no error, then analyzing the effect of random error to motion reliability of robot.