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.
Reliability-Based Design Optimization of Robotic System Dynamic Performance
- Views Icon Views
- Share Icon Share
- Search Site
Bowling, A. P., Renaud, J. E., Newkirk, J. T., Patel, N. M., and Agarwal, H. (April 7, 2006). "Reliability-Based Design Optimization of Robotic System Dynamic Performance." ASME. J. Mech. Des. April 2007; 129(4): 449–454. https://doi.org/10.1115/1.2437804
Download citation file: