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Type of Document	Master's Thesis
Author	Newkirk, Jeremy Thurston
Author's Email Address	jnewkirk@nd.edu
URN	etd-12052007-163722
Title	Dynamic Performance Analysis of a Robotic System Using Reliability-Based Design Optimization
Degree	Master of Science in Mechanical Engineering
Department	Aerospace and Mechanical Engineering
Advisory Committee	Advisor Name Title Dr. John Renaud Committee Member Dr. Michael Stanisic Committee Member
Keywords	Design Optimization Characterization Workspace Robotics
Date of Defense	2007-08-03
Availability	unrestricted
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.
Files	Filename       Size       Approximate Download Time (Hours:Minutes:Seconds)     28.8 Modem   56K Modem   ISDN (64 Kb)   ISDN (128 Kb)   Higher-speed Access    NewkirkJ.pdf 307.85 Kb 00:01:25 00:00:43 00:00:38 00:00:19 00:00:01