Although a few studies have analyzed repeatability, accuracy, errors and safety of robot, little attention has been paid to the stochastic approach with open-loop mechanisms, especially robot manipulators. Considering the random nature of dimensional tolerance and clearance in manufacturing and assembling operations, a stochastic approach to figure out reliabilitv of the robot should be required. In this paper, reliability is used to reflect the ability of 6-DOF arc welding robot in completing tasks safely and accurately. With the assumption that all kinematic parameters are independent random variables following normal distribution, the kinematic accuracy error model and reliability model are presented based on the Denavt-Hartenberg ( D-H) representation and error propagation theory.
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