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    Reliability-Based Design Optimization of Robotic System Dynamic Performance

    Source: Journal of Mechanical Design:;2007:;volume( 129 ):;issue: 004::page 449
    Author:
    Alan P. Bowling
    ,
    Harish Agarwal
    ,
    John E. Renaud
    ,
    Jeremy T. Newkirk
    ,
    Neal M. Patel
    DOI: 10.1115/1.2437804
    Publisher: The American Society of Mechanical Engineers (ASME)
    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.
    keyword(s): Robots , Reliability , Actuators , Design , Robotics , End effectors , Failure , Reliability-based optimization , Probability , Uncertainty , Force AND Optimization ,
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      Reliability-Based Design Optimization of Robotic System Dynamic Performance

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    http://yetl.yabesh.ir/yetl1/handle/yetl/136498
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    • Journal of Mechanical Design

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    contributor authorAlan P. Bowling
    contributor authorHarish Agarwal
    contributor authorJohn E. Renaud
    contributor authorJeremy T. Newkirk
    contributor authorNeal M. Patel
    date accessioned2017-05-09T00:25:09Z
    date available2017-05-09T00:25:09Z
    date copyrightApril, 2007
    date issued2007
    identifier issn1050-0472
    identifier otherJMDEDB-27846#449_1.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/136498
    description abstractIn 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.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleReliability-Based Design Optimization of Robotic System Dynamic Performance
    typeJournal Paper
    journal volume129
    journal issue4
    journal titleJournal of Mechanical Design
    identifier doi10.1115/1.2437804
    journal fristpage449
    journal lastpage454
    identifier eissn1528-9001
    keywordsRobots
    keywordsReliability
    keywordsActuators
    keywordsDesign
    keywordsRobotics
    keywordsEnd effectors
    keywordsFailure
    keywordsReliability-based optimization
    keywordsProbability
    keywordsUncertainty
    keywordsForce AND Optimization
    treeJournal of Mechanical Design:;2007:;volume( 129 ):;issue: 004
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
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