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ZHANG D Q , HAN X . Kinematic reliability analysis of robotic manipulator [J ] . Journal of Mechanical Design , 2020 , 142 : 044502 . DOI: 10.1115/1.4044436 http://doi.org/10.1115/1.4044436 https://asmedigitalcollection.asme.org/mechanicaldesign/article/doi/10.1115/1.4044436/956267/Kinematic-Reliability-Analysis-of-Robotic https://asmedigitalcollection.asme.org/mechanicaldesign/article/doi/10.1115/1.4044436/956267/Kinematic-Reliability-Analysis-of-Robotic Kinematic reliability of robotic manipulators is the linchpin for restraining the positional errors within acceptable limits. This work develops an efficient reliability analysis method to account for random dimensions and joint angles of robotic mechanisms. It aims to proficiently predict the kinematic reliability of robotic manipulators. The kinematic reliability is defined by the probability that the actual position of an end-effector falls into a specified tolerance sphere, which is centered at the target position. The motion error is indicated by a compound function of independent standard normal variables constructed by three co-dependent coordinates of the end-effector. The saddle point approximation is then applied to compute the kinematic reliability. Exemplification demonstrates satisfactory accuracy and efficiency of the proposed method due to the construction and the saddle point since random simulation is spared.

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王汝贵 , 周宁琦 , 陈辉庆 . 考虑杆长误差的变胞机构运动可靠性分析 [J ] . 机械设计与研究 , 2021 , 37 ( 1 ): 77 - 80 .

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纪明 , 卜珺珺 , 马聪 . 最大熵试验法对航天作动器输出可靠性的评估 [J ] . 兵工学报 , 2022 , 43 ( 4 ): 919 - 923 . DOI: 10.12382/bgxb.2021.0196 http://doi.org/10.12382/bgxb.2021.0196 为解决航天作动器在小子样情况下的输出可靠性评估难题，提出采用最大熵试验法对其可靠性进行评估。该方法针对航天作动器的裕度设计特点，选取作动器的输出力作为表征其输出可靠性的特征量，通过在临界工况点进行试验和计算来实现输出可靠性的评估，并对评估过程进行详细介绍。结果表明：最大熵试验法仅需较少试验子样数即可实现对较高可靠性（置信度0.95下的可靠度0.999 9）的评估，能够显著降低生产和试验费用；评估结果经计量法进行复算，结果一致、可信。

JI M , BU J J , MA C . Maximum entropy test method for evaluating the output reliability of space actuators [J ] . Acta Armamentarii . 2022 , 43 ( 4 ): 919 - 923 . (in Chinese) DOI: 10.12382/bgxb.2021.0196 http://doi.org/10.12382/bgxb.2021.0196 A maximum entropy test method is proposed to evaluate the output reliability of space actuator with small sample size. According to the margin design characteristics of space actuator，the output force of the actuator is selected as the characteristic quantity to represent its output reliability. The output reliability is evaluated by experiment and calculation at critical operating points，and the evaluation process is introduced in detail. The results show that the proposed method can be used to evaluate high reliability (0.999 9 reliability with confidence of 0.95) with only a small number of test samples，and can significantly reduce the cost of production and test. The evaluated results are consistent and credible after recalculation by variables evaluation method.

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SALTELLI A . Sensitivity analysis for importance assessment [J ] . Risk Analysis , 2002 , 22 ( 3 ): 579 - 590 . We review briefly some examples that would support an extended role for quantitative sensitivity analysis in the context of model-based analysis (Section 1). We then review what features a quantitative sensitivity analysis needs to have to play such a role (Section 2). The methods that meet these requirements are described in Section 3; an example is provided in Section 4. Some pointers to further research are set out in Section 5.

WU J H , ZHANG D Q , LIU J , et al. A computational framework of kinematic accuracy reliability analysis for industrial robots [J ] . Applied Mathematical Modelling , 2020 , 82 : 189 - 216 . DOI: 10.1016/j.apm.2020.01.005 http://doi.org/10.1016/j.apm.2020.01.005 https://linkinghub.elsevier.com/retrieve/pii/S0307904X20300056 https://linkinghub.elsevier.com/retrieve/pii/S0307904X20300056

JIA X Y , JIANG C , FU C M , et al. Uncertainty propagation analysis by an extended sparse grid technique [J ] . Frontiers of Mechanical Engineering , 2019 , 14 ( 1 ): 33 - 46 . DOI: 10.1007/s11465-018-0514-x http://doi.org/10.1007/s11465-018-0514-x In this paper, an uncertainty propagation analysis method is developed based on an extended sparse grid technique and maximum entropy principle, aiming at improving the solving accuracy of the high-order moments and hence the fitting accuracy of the probability density function (PDF) of the system response. The proposed method incorporates the extended Gauss integration into the uncertainty propagation analysis. Moreover, assisted by the Rosenblatt transformation, the various types of extended integration points are transformed into the extended Gauss-Hermite integration points, which makes the method suitable for any type of continuous distribution. Subsequently, within the sparse grid numerical integration framework, the statistical moments of the system response are obtained based on the transformed points. Furthermore, based on the maximum entropy principle, the obtained first four-order statistical moments are used to fit the PDF of the system response. Finally, three numerical examples are investigated to demonstrate the effectiveness of the proposed method, which includes two mathematical problems with explicit expressions and an engineering application with a black-box model.

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