Reliability-Based Analysis and Optimization of the Gravity Balancing Performance of Spring-Articulated Serial Robots With Uncertainties
Publication Name
Journal of Mechanisms and Robotics
Abstract
This article proposes a method for analyzing the gravity balancing reliability of spring-articulated serial robots with uncertainties. Gravity balancing reliability is defined as the probability that the torque reduction ratio (the ratio of the balanced torque to the unbalanced torque) is less than a specified threshold. In this paper, the reliability analysis is performed by exploiting a Monte Carlo simulation (MCS) with consideration of the uncertainties in the link dimensions, masses, and compliance parameters. A reliability-based design optimization (RBDO) method is also developed to seek reliable spring setting parameters for maximized balancing performance under a prescribed uncertainty level. The RBDO is formulated with consideration of a probabilistic reliability constraint and solved by using a particle swarm optimization (PSO) algorithm. A numerical example is provided to illustrate the gravity balancing performance and reliability of a robot with uncertainties. A sensitivity analysis of the balancing design is also performed. Lastly, the effectiveness of the RBDO method is demonstrated through a case study in which the balancing performance and reliability of a robot with uncertainties are improved with the proposed method.
Open Access Status
This publication is not available as open access
Volume
14
Issue
3
Article Number
031016
Funding Number
108-2221-E-011-129-MY3
Funding Sponsor
Ministry of Science and Technology, Taiwan