4.5 Article

Reliability-Based Analysis and Optimization of the Gravity Balancing Performance of Spring-Articulated Serial Robots With Uncertainties

Publisher

ASME
DOI: 10.1115/1.4053048

Keywords

kinetostatic reliability analysis; design optimization; static balancing; gravity compensation; quasizero-stiffness mechanism; robot design

Funding

  1. Ministry of Science and Technology (MOST), Taiwan [MOST 110-2222-E-167-004, MOST 108-2221-E-011-129-MY3, MOST 109-2811-E-011-517-MY2]
  2. Center for Cyber-Physical System Innovation, Featured Areas Research Center in Higher Education Sprout Project of Ministry of Education (MOE), Taiwan

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This article proposes a method for analyzing the gravity balancing reliability of spring-articulated serial robots with uncertainties. The reliability analysis is performed using a Monte Carlo simulation and a reliability-based design optimization method, which improves the balancing performance and reliability of the robot. A numerical example and sensitivity analysis are provided to demonstrate the effectiveness of the proposed method.
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.

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