Reliability Based Approach to Manipulator Parameter Design

Abstract

The work illustrates simulation approach for parametric design and optimizing the performance of a 2-DOF RR planar manipulator. Using dynamic and kinematic models of a manipulator different performance measures for the manipulator are obtained for different combination of parameters with effect of noise incorporated to imitate the real time performance of the manipulator. A novel approach has been used to model, the otherwise difficult to model, noise effects. The data generated during simulation for various parameter combinations are utilized to analyze the statistical significance of kinematic and dynamic parameters on performance of manipulator using ANOVA technique. Optimal parameter combinations, which gave optimum performance measures, for a point in workspace are obtained and compared.