关键词: 包络函数, 协作机器人, ADAMS, 运动可靠性

Abstract: The organization is affected by a variety of random factors during the exercise. In order to improve the motion reliability of the mechanism, it is very important to evaluate the motion reliability at the beginning of design. The error model of collaborative robot mechanism is established based on D⁃H method and finite⁃element method. The fourth⁃order moment method is used to establish the mechanism motion reliability model. The reliability model of mechanism motion interval is established based on envelope function method. The model of rigid⁃flexible coupling parameterization with clearance is established by using ADAMS. Motion reliability simulation of collaborative robot was made with ADAMS/insight. And calculate the motion reliability within 9 s. Compared with Monte Carlo simulation（MCS）. The advantages of the fourth⁃moment method and the envelope function method in the analysis of motion reliability are proved.

Key words: Envelope function, Collaborative robot, ADAMS, Motion reliability