Research on the manipulator reliability evaluation model based on repeatability accuracy and end-effector vibration

With the wide application of the manipulator in the flexible manufacturing cell, ensuring stability, safety, and reliability has become increasingly important. The reliability evaluation of the manipulator can significantly reduce the frequency of failures and maintenance, thereby minimizing downtime. To address the challenge of acquiring sufficient high-performance degradation data in a relatively short period, an accelerated degradation test was performed in this paper. Following this, a reliability model for manipulator was established using the nonlinear Wiener process, allowing for accurate estimation of model parameters. The reliability model under rated load conditions and a specified threshold was derived based on the first-time delivery failures principle. Considering the characteristics of performance degradation data, the reliability evaluation of manipulator based on binary performance degradation is carried out. The results indicate that the failure time is 9758 h when the reliability R = 0.5 considering the binary performance degradation.