Robot System Reliability and Safety: A Modern Approach

256 Pages·2015·4.655 MB·English

by  B.S. Dhillon

D
MANUFACTURING & INDUSTRIAL ENGINEERING H
I ROBOT SYSTEM
L
L
O
“This book does a good job of assembling the pertinent reliability
N
engineering mathematics and techniques in a single volume and applying
them to illustrative examples.” RELIABILITY
—John M. Dolan, The Robotics Institute, Carnegie Mellon University AND
“… simple and elegant presentation … A very useful guidebook for begin-
ners in reliability and safety … a novel approach to robot systems.”
SAFETY
—Professor Krzysztof Kołowrocki, Gdynia Maritime University
“Well-organized content, which meets the [needs of] professionals and
practitioners in the field of robot and reliability.”
—Kouroush Jenab, Embry-Riddle Aeronautical University, Daytona Beach
A MODERN
“… a treasure of current information in a single volume … extremely prag-
matic and very easy to use not only for practicing engineers but also for APPROACH
undergraduate/graduate students and researchers. …”
—Dr. Subramanyam Naidu Rayapati, President & CEO, Agile CloudTech, LLC
“There are many examples and illustrations … [that] provide a better
understanding of dependability (reliability, safety, and maintainability)
problems in robots. The author discusses various mathematical models,
analytical techniques, and problems of practical significances. Readers
interested in robotics who are not familiar with dependability issues
can grasp basic techniques after studying the book. Moreover, they can
continue deeper studies in the referenced literature according to the
outlined roadmap. …”
—Janusz Sosnowski, Institute of Computer Science, Warsaw University of Technology
Written by a well-known expert in reliability engineering, Robot System
Reliability and Safety: A Modern Approach presents up-to-date information
on robot reliability, safety, and related areas in a single volume, eliminating
the need to consult diverse sources. The book covers fundamental mathe-
matical concepts and reliability and safety basics for readers without prior
knowledge of the subject. It describes useful techniques for analyzing the
reliability and safety of robot systems and includes examples with solutions,
numerous problems, and extensive references.
K24829
ISBN: 978-1-4987-0644-5
90000
B. S. D H I LLO N
9 781498 706445
K24829_Cover_PubGr.indd All Pages 3/18/15 1:36 PM

ROBOT SYSTEM
RELIABILITY
AND
SAFETY

ROBOT SYSTEM
RELIABILITY
AND
SAFETY
A MODERN
APPROACH
B. S. D H I LLO N
CRC Press
Taylor & Francis Group
6000 Broken Sound Parkway NW, Suite 300
Boca Raton, FL 33487-2742
© 2015 by Taylor & Francis Group, LLC
CRC Press is an imprint of Taylor & Francis Group, an Informa business
No claim to original U.S. Government works
Version Date: 20150318
International Standard Book Number-13: 978-1-4987-0645-2 (eBook - PDF)
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This book is affectionately dedicated to my grandson, Dillon.

Contents
Preface .....................................................................................................................xv
Author ...................................................................................................................xix
1 Introduction .....................................................................................................1
1.1 Background ............................................................................................1
1.2 Robot System Reliability/Safety-Related Facts, Figures,
and Examples .........................................................................................2
1.3 Terms and Definitions ..........................................................................3
1.4 Useful Sources for Obtaining Information on Reliability
and Safety of Robot Systems ...............................................................5
1.4.1 Journals .....................................................................................5
1.4.2 Conference Proceedings .........................................................6
1.4.3 Books..........................................................................................6
1.4.4 Technical Reports .....................................................................7
1.4.5 Data Sources .............................................................................7
1.4.6 Standards ..................................................................................8
1.4.7 Organizations ...........................................................................9
1.5 Scope of the Book ..................................................................................9
1.6 Problems ...............................................................................................10
References .......................................................................................................11
2 Basic Mathematical Concepts ....................................................................13
2.1 Introduction .........................................................................................13
2.2 Arithmetic Mean and Mean Deviation ............................................13
2.2.1 Arithmetic Mean ....................................................................14
2.2.2 Mean Deviation ......................................................................14
2.3 Boolean Algebra Laws ........................................................................15
2.4 Probability Definition and Properties ..............................................16
2.5 Probability Distribution-Related Definitions ..................................18
2.5.1 Cumulative Distribution Function ......................................18
2.5.2 Probability Density Function ...............................................19
2.5.3 Expected Value .......................................................................19
2.6 Probability Distributions ...................................................................20
2.6.1 Exponential Distribution ......................................................20
2.6.2 Rayleigh Distribution ............................................................21
2.6.3 Weibull Distribution ..............................................................22
2.6.4 Bathtub Hazard Rate Curve Distribution ..........................22
2.7 Laplace Transform Definition, Common Laplace
Transforms, and Final-Value Theorem Laplace Transform ..........23
2.7.1 Laplace Transform Definition ..............................................23
vii
viii Contents
2.7.2 Laplace Transforms of Common Functions .......................24
2.7.3 Final Value Theorem Laplace Transform ...........................25
2.8 Solving First-Order Differential Equations Using
Laplace Transforms .............................................................................25
2.9 Problems ...............................................................................................27
References .......................................................................................................28
3 Reliability and Safety Basics .....................................................................31
3.1 Introduction .........................................................................................31
3.2 Bathtub Hazard Rate Curve ..............................................................31
3.3 General Reliability-Related Formulas ..............................................33
3.3.1 Probability (or Failure) Density Function...........................33
3.3.2 Hazard Rate (or Time-Dependent Failure Rate)
Function...................................................................................34
3.3.3 General Reliability Function ................................................34
3.3.4 Mean Time to Failure ............................................................35
3.4 Reliability Configurations .................................................................37
3.4.1 Series Network .......................................................................37
3.4.2 Parallel Network ....................................................................39
3.4.3 k-out-of-n Network .................................................................41
3.4.4 Standby System ......................................................................43
3.4.5 Bridge Network ......................................................................45
3.5 Need for Safety and the Role of Engineers with Respect
to Safety ................................................................................................47
3.6 Classifications of Product Hazards and Common
Mechanical Injuries ............................................................................48
3.7 Organization Tasks for Product Safety and Safety
Management Principles ......................................................................49
3.8 Accident-Causation Theories ............................................................51
3.8.1 The “Human Factors” Accident-Causation Theory ..........51
3.8.2 The “Domino” Accident-Causation Theory ......................52
3.9 Problems ...............................................................................................54
References .......................................................................................................54
4 Methods for Performing Reliability and Safety Analysis
of Robot Systems ..........................................................................................57
4.1 Introduction .........................................................................................57
4.2 Failure Modes and Effect Analysis ...................................................57
4.3 The Markov Method ...........................................................................59
4.4 Fault Tree Analysis .............................................................................63
4.4.1 Probability Evaluation of Fault Trees ..................................65
4.4.2 FTA Advantages and Disadvantages ..................................67
4.5 Technique of Operations Review ......................................................68
4.6 Hazard and Operability Analysis ....................................................69
4.7 Interface Safety Analysis ...................................................................69