Digitalization and servitization of machine tools in the era of Industry 4.0
Abstract: Industrial robots play a crucial role in modern manufacturing and production systems by enhancing efficiency, precision, and safety. Related researches always focus on the final positional accuracy. However, the stability of the entire motion process should be investigated, which reflects system reliability and performance. Considering the fluctuation of angular velocity, the performance function of motion stability is analyzed for the end effector. Based on the high-order statistical moments, reliability index can be evaluated in a single operating period. Dynamic reliability method is investigated to assess the system performance in the whole period. The corresponding calculation process is proposed. Subsequently, the reliability-based optimization is proposed to search the optimum rotation angles by the multilayer neural network. Taken IRB120 as an example, dynamic reliability is decreasing from 1 to 0.860. The optimization model can reduce the failure probability to 2 × 10−6 with low sensitivity indices for the motion stability and system performance.
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