Hostname: page-component-8448b6f56d-dnltx Total loading time: 0 Render date: 2024-04-17T17:32:26.665Z Has data issue: false hasContentIssue false
  • English
  • Français

A Fuzzy Approach for the Kinematic Reliability Assessment of Robotic Manipulators

Published online by Cambridge University Press:  05 March 2021

Fabian A. Lara-Molina Open the ORCID record for Fabian A. Lara-Molina [Opens in a new window]  and
Didier Dumur
Fabian A. Lara-Molina*
Affiliation:
Federal University of Technology - Paraná, Cornélio Procópio, PR86300-00Brazil
Didier Dumur
Affiliation:
Universit Paris-Saclay, CNRS, CentraleSuplec, Laboratoire des Signaux et Systèmes, 91 192 Gif sur Yvette cedex, France
*
*Corresponding author. E-mail: fabianmolina@utfpr.edu.br
Get access Rights & Permissions [Opens in a new window]

Summary

This paper aims at developing a novel method to assess the kinematic reliability of robotic manipulators based on the fuzzy theory. The kinematic reliability quantifies the probability of obtaining positioning errors within acceptable limits. For this purpose, the fuzzy reliability evaluates the effect of the joint clearances on the end-effector position to compute a failure possibility index. As an alternative to the conventional methods reported in the literature, this failure possibility index conveys a novel assessment of the kinematic performance. The numerical results are compared with the well-known probabilistic approach based on the Monte Carlo simulation.

Keywords

KinematicsManipulatorFuzzyUncertaintiesClearances
Type
Article
Information
Robotica , Volume 39 , Issue 12 , December 2021 , pp. 2095 - 2109
Copyright
© The Author(s), 2021. Published by Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Lara-Molina, F. A., Dumur, D. and Takano, K. A., “Multi-objective optimal design of flexible-joint parallel robot,” Eng. Comput. 35(8), 2775–2801 (2018).CrossRefGoogle Scholar
Siciliano, B. and Khatib, O., Springer Handbook of Robotics (Springer-Verlag, Berlin, Heidelberg, 2007).Google Scholar
Takahashi, J., Fukukawa, T. and Fukuda, T., “Passive alignment principle for robotic assembly between a ring and a shaft with extremely narrow clearance,” IEEE/ASME Trans. Mech. 21(1), 196–204 (2016). chebbi2009predictionGoogle Scholar
Chebbi, A.-H., Affi, Z. and Romdhane, L., “Prediction of the pose errors produced by joints clearance for a 3-UPU parallel robot,” Mech. Mach. Theory 44(9), 1768–1783 (2009).CrossRefGoogle Scholar
Voglewede, P. and Ebert-Uphoff, I., “Application of workspace generation techniques to determine the unconstrained motion of parallel manipulators,” J. Mech. Des. 126(2), 283–290 (2004).10.1115/1.1649967CrossRefGoogle Scholar
Meng, L., Zhang, D. and Li, Z., “Accuracy analysis of parallel manipulators with joint clearance,” J. Mech. Des. 131(1), 011013-1–011013-9 (2009).CrossRefGoogle Scholar
Zhang, J. and Du, X., “Time-dependent reliability analysis for function generation mechanisms with random joint clearances,” Mech. Mach. Theory 92, 184–199 (2015), https://www.sciencedirect.com/science/article/abs/pii/S0094114X15001032.10.1016/j.mechmachtheory.2015.04.020CrossRefGoogle Scholar
Pandey, M. D. and Zhang, F., “System reliability analysis of the robotic manipulator with random joint clearances,” Mech. Mach. Theory 58, 137–152 (2012), https://www.sciencedirect.com/science/article/abs/pii/S0094114X12001632.CrossRefGoogle Scholar
Lara-Molina, F. A., Koroishi, E. H., Steffen, V. and Martins, L. A., “Kinematic performance of planar 5R symmetrical parallel mechanism subjected to clearances and uncertainties,” J. Braz. Soc. Mech. Sci. Eng. 40(4), 189 (2018).10.1007/s40430-018-1118-4CrossRefGoogle Scholar
Venanzi, S. and Parenti-Castelli, V., “A new technique for clearance influence analysis in spatial mechanisms,” J. Mech. Des. 127(3), 446–455 (2005).CrossRefGoogle Scholar
Binaud, N., Cardou, P. and Caro, S., “The Kinematic Sensitivity of Robotic Manipulators to Joint Clearances,” ASME Internationl Design Engineering Technical Conferences Computers and Information in Engineering (2010).CrossRefGoogle Scholar
Zhang, D. and Han, X., “Kinematic reliability analysis of robotic manipulator,” J. Mech. Des. 142(4), 044502-1–044502-8 (2020).CrossRefGoogle Scholar
Xu, D., “Kinematic reliability and sensitivity analysis of the modified Delta parallel mechanism,” Int. J. Adv. Rob. Syst. 15(1), 1–8 (2018).Google Scholar
Cui, G., Zhang, H., Zhang, D. and Xu, F., “Analysis of the kinematic accuracy reliability of a 3-DOF parallel robot manipulator,” Int. J. Adv. Rob. Syst. 12(2), 1–11 (2015).Google Scholar
Zadeh, L. A., “Fuzzy sets,” Inf. Control 8(3), 338–353 (1965).CrossRefGoogle Scholar
Huang, S.-J. and Lee, J. S., “A stable self-organizing fuzzy controller for robotic motion control,” IEEE Trans. Ind. Electron. 47(2), 421–428 (2000).CrossRefGoogle Scholar
Wang, L., Chai, T. and Zhai, L., “Neural-network-based terminal sliding-mode control of robotic manipulators including actuator dynamics,” IEEE Trans. Ind. Electron. 56(9), 3296–3304 (2009).10.1109/TIE.2008.2011350CrossRefGoogle Scholar
Lara-Molina, F. A., Takano, K. A. and Koroishi, E. K., “Set-Point Regulation of a Robot Manipulator with Flexible Joints Using Fuzzy Control,” 2015 12th Latin American Robotics Symposium and 2015 3rd Brazilian Symposium on Robotics (LARS-SBR) (2015) pp. 103–108.Google Scholar
Wang, J., Zhang, J. and Du, X., “Hybrid dimension reduction for mechanism reliability analysis with random joint clearances,” Mech. Mach. Theory 46(10), 1396–1410 (2011).CrossRefGoogle Scholar
Jeong, K., Woo-Jin, S. and Beom-Soo, K., “Stochastic approach to kinematic reliability of open-loop mechanism with dimensional tolerance,” Appl. Math. Modell. 34(5), 1225–1237 (2010).Google Scholar
Zhan, Z., Zhang, X., Jian, Z. and Zhang, H., “Error modelling and motion reliability analysis of a planar parallel manipulator with multiple uncertainties,” Mech. Mach. Theory 124, 55–72 (2018). doi: 10.1016/j.mechmachtheory.2018.02.005 CrossRefGoogle Scholar
Geng, X., Wang, X., Wang, L. and Wang, R., “Non-probabilistic time-dependent kinematic reliability assessment for function generation mechanisms with joint clearances,” Mech. Mach. Theory 104(9), 202–221 (2016).CrossRefGoogle Scholar
Geng, X., Li, M., Liu, Y., Zheng, W. and Zhao, Z., “Non-probabilistic kinematic reliability analysis of planar mechanisms with non-uniform revolute clearance joints,” Mech. Mach. Theory 104(9), 413–433 (2019).CrossRefGoogle Scholar
Shah, S. V., Saha, S. K. and Dutt, J. K., “Denavit-Hartenberg parameterization of Euler angles,” J. Comput. Nonlinear Dyn. 7(2), 021006-1–021006-10 (2012).Google Scholar
Storn, R. and Price, K., “Differential evolution–a simple and efficient heuristic for global optimization over continuous spaces,” J. Global Optim. 11(4), 341–359 (1997).CrossRefGoogle Scholar