contributor author | Alan P. Bowling | |
contributor author | Harish Agarwal | |
contributor author | John E. Renaud | |
contributor author | Jeremy T. Newkirk | |
contributor author | Neal M. Patel | |
date accessioned | 2017-05-09T00:25:09Z | |
date available | 2017-05-09T00:25:09Z | |
date copyright | April, 2007 | |
date issued | 2007 | |
identifier issn | 1050-0472 | |
identifier other | JMDEDB-27846#449_1.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/136498 | |
description abstract | 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. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Reliability-Based Design Optimization of Robotic System Dynamic Performance | |
type | Journal Paper | |
journal volume | 129 | |
journal issue | 4 | |
journal title | Journal of Mechanical Design | |
identifier doi | 10.1115/1.2437804 | |
journal fristpage | 449 | |
journal lastpage | 454 | |
identifier eissn | 1528-9001 | |
keywords | Robots | |
keywords | Reliability | |
keywords | Actuators | |
keywords | Design | |
keywords | Robotics | |
keywords | End effectors | |
keywords | Failure | |
keywords | Reliability-based optimization | |
keywords | Probability | |
keywords | Uncertainty | |
keywords | Force AND Optimization | |
tree | Journal of Mechanical Design:;2007:;volume( 129 ):;issue: 004 | |
contenttype | Fulltext | |