Session: MR-01-01 Mechanisms Synthesis & Analysis

Paper Number: 66762

Start Time: August 19, 11:10 AM

66762 - Gravity Balancing Reliability and Sensitivity Analysis of Robotic Manipulators With Uncertainties 

This paper presents the gravity balancing reliability and the sensitivity analysis of the robotic manipulators with uncertainties. The gravity balancing reliability is defined as the probability that the actuation torque rate of the robot reduces below a specified threshold. Analyzing the balancing reliability and sensitivity of the uncertain parameters is of great importance for assessing and guaranteeing the performance of the robot. In this study, the balancing design for an industrial robot using the gear-spring modules (GSMs) is proposed based on a simulation-based analysis of the gravity effect of the robot. With the assumption of normal distribution and randomness for the design variables (including the link dimensions, masses, the stiffness coefficients of the springs), the Monte Carlo Simulation (MCS) method is employed to analyze and simulate the balancing reliability. A case study with the industrial robot is then given to illustrate the gravity balancing reliability and the sensibility of the uncertain parameters. It was found that the gravity balancing is achievable even when the uncertainties are considered. The uncertainties could worsen the balancing performance when the standard deviations increase more than seven percent of their means. Besides, the dimensional parameters have the most critical effect on the robotic balancing performance.

Presenting Author: Vu Linh Nguyen National Chin-Yi University of Technology

Authors:

Po Ting Lin National Taiwan University of Science and Technology
Chin-Hsing Kuo University of Wollongong
Vu Linh Nguyen National Chin-Yi University of Technology