RELIABILITY AND SENSITIVITY ANALYSIS OF THE ROBOTIC ARM SYSTEM WITH REDUNDANCY AT SYSTEM LEVEL USING MARKOV MODELING

  • Pardeep Kumar et al.

Abstract

The aim of this paper is to evaluate the reliability indices of a robotic arm system (consisting
four robotic arms) which work in a series connection along with one redundant robotic arm at
system level using the Markov modeling. Whenever any robotic arm fails the redundant robotic
arm replaces the failed robotic arm immediately which reduces the downtime of the system. The
system is repairable and failure and repair rate are assumed to be constant. The Markov
modelling is employed to obtain the Chapman-Kolmogorov equations. Laplace transformation is
used to solve the developed differential equations and obtain the transition state probabilities of
the system. An Explicit expression for the reliability and MTTF are obtained. Sensitivity analysis
is also performed to determine the most critical components of the system. Graphs are plotted for
a better understanding of the readers

Published
2019-12-21
Section
Articles