"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 ...
Source: uow.edu.au