Dynamic Performance Analysis of a Robotic System Using Reliability-Based Design Optimization

Master's Thesis

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 and additionally with respect to changing configurations with a fixed operational point. The workspace is characterized to determine the actuator inputs required to achieve a desired level of performance over a chosen percentage of configurations. In this work a unilevel performance measure approach (PMA) 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.

Attributes

Attribute NameValues
URN
  • etd-12052007-163722

Author Jeremy Thurston Newkirk
Advisor Dr. John Renaud
Contributor Dr. John Renaud, Committee Member
Contributor Dr. Michael Stanisic, Committee Member
Degree Level Master's Thesis
Degree Discipline Aerospace and Mechanical Engineering
Degree Name MSME
Defense Date
  • 2007-08-03

Submission Date 2007-12-05
Country
  • United States of America

Subject
  • Characterization

  • Robotics

  • Workspace

  • Design Optimization

Publisher
  • University of Notre Dame

Language
  • English

Record Visibility Public
Content License
  • All rights reserved

Departments and Units

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