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TECHNICAL BRIEFS

Reliability-Based Design Optimization of Robotic System Dynamic Performance

[+] Author and Article Information
Alan P. Bowling

Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN 46556abowling@nd.edu

John E. Renaud

Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN 46556jrenaud@nd.edu

Jeremy T. Newkirk

Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN 46556jnewkirk@nd.edu

Neal M. Patel

Department of Aerospace and Mechanical Engineering, University of Notre Dame, Notre Dame, IN 46556npatel@nd.edu

Harish Agarwal

 General Electric Global Research, Niskayuna, NY, 12309agarwal@research.ge.com

J. Mech. Des 129(4), 449-454 (Apr 07, 2006) (6 pages) doi:10.1115/1.2437804 History: Received September 16, 2005; Revised April 07, 2006

In this investigation a robotic system’s dynamic performance is optimized for high reliability under uncertainty. The dynamic capability equations (DCE) allow designers to predict the dynamic performance of a robotic system for a particular configuration and reference point on the end effector (i.e., point design). Here the DCE are used in conjunction with a reliability-based design optimization (RBDO) strategy in order to obtain designs with robust dynamic performance with respect to the end-effector reference point. In this work a unilevel performance measure approach is used to perform RBDO. This is important for the reliable design of robotic systems in which a solution to the DCE is required for each constraint call. The method is illustrated on a robot design problem.

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Copyright © 2007 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

PUMA 560 dynamic capability hypersurface sections

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Figure 3

Uniform PDFs for r and θ

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Figure 4

Standard normal joint PDF ϕ(ur,uθ)

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Figure 5

Contours of optimal actuator torque values

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