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"Reliability-Based Analysis and Optimization of the Gravity Balancing P" by Vu Linh Nguyen, Chin Hsing Kuo et al.

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 ....

Monte Carlo , Design Optimization , Gravity Compensation , Inetostatic Reliability Analysis , Uasizero Stiffness Mechanism , Robot Design , Tatic Balancing ,