Reliability analysis of a two-link flexible robot manipulator

摘要

The aim of this research is to present a method for analyzing the reliability of the dynamic strength and dynamic stiffness of a two-link flexible robot manipulator (TFRM). Lagrange dynamics differential equations of TFRM were established using integrated modal method and multi-body system dynamics method. On that basis the dynamic deformation model, dynamic stress model and reliability model of dynamic strength and dynamic stiffness were established. Moreover, by using the Monte Carlo method, the samples of the dynamic parameters of TFRM were obtained. The dynamic deformation and dynamic stress were calculated. The reliability of dynamic strength and dynamic stiffness were analyzed. In the analysis, random variables included the component section sizes, the material strength, the material density and Elastic modulus.