Accuracy reliability analysis of industrial robots considering manufacturing errors

Aiming at the problem of the positioning accuracy failure of industrial robots, a reliability analysis method considering the processing errors and assembly errors of the six-degree-of-freedom industrial robots is proposed. The ideal positive kinematics model of a six-degree-of-freedom industrial robot was established through the D-H model, and the error transmission path of each joint's mating surface was established. Combined with the small displacement spin method (SDT) and the MD-H model, the six-degree-of-freedom industrial robot was constructed with joint errors. Kinematics model, and use Monte for simulation test. Designed the Latin Hypercube Sampling (LHS) experiment, constructed the Kriging proxy model of the functional function of the six-degree-of-freedom industrial robot, and conducted reliability analysis and sensitivity analysis based on the proxy model and Monte Carlo method, and determined the impact on the six-degree-of-freedom industrial robot The main factor of positioning accuracy.