DYNAMIC MODELING AND SENSITIVITY ANALYSIS OF AN N-LINKAGE PLANAR SERIAL ROBOT TO DESIGN PARAMETERS BASED ON SOBOL AND EFAST METHODS

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MEHRAFROOZ BEHZAD; MOHAMMADI MOHSEN; TALE MASOULEH MEHDI

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Journal: Modares Mechanical Engineering Year:2016 | Volume:16 | Issue:6 Page(s): 321-332

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Title

DYNAMIC MODELING AND SENSITIVITY ANALYSIS OF AN N-LINKAGE PLANAR SERIAL ROBOT TO DESIGN PARAMETERS BASED ON SOBOL AND EFAST METHODS

Author(s)

MEHRAFROOZ BEHZAD | MOHAMMADI MOHSEN | TALE MASOULEH MEHDI | Issue Writer Certificate

Keywords

SERIAL PLANAR ROBOTQ1

NATURAL ORTHOGONAL COMPLEMENTQ1

MATODEQ1

DYNAMICS SENSITIVITY ANALYSISQ1

Abstract

In this paper, based on the concept of NATURAL ORTHOGONAL COMPLEMENT, an algorithm is devised to analyze the inverse and forward dynamics and dynamic sensitivity of n-linkage planar serial robots. The first goal is to derive the governing dynamic equations of a planar serial robot systematically, more precisely, number of the linkages, mass, moment of inertia and the length of the linkages are the inputs of the algorithm and the output will be the dynamics equations of the robot. As a comparison study, a planar serial mechanism, namely dynamic modeling of 6R serial revolute manipulator is investigated and the results of the proposed algorithm are compared with other methods, i.e, Adams software and MATODE. In the next step, in order to develop a dynamic sensitivity analysis scheme, Sobol and EFAST methods are employed. By use of the dynamic equations of the robots, the sensitivity of the actuating torques to the design parameters such as mass and length of the linkages is analyzed. Dynamic sensitivity of three planar serial robots, namely 2R-PSM, 3R-PSM and 6R-PSM is studied in two different configurations such as singular and isotropic. Finally, the effects of various angular velocities on the sensitivity of actuated torques to the design parameters are investigated. The obtained results reveal that the tolerance of uncertainty in the design parameters of robot affects the actuating torques significantly and also the Sobol’s method predicts the sensitivity of the robot more precisely.

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APA: Copy

MEHRAFROOZ, BEHZAD, MOHAMMADI, MOHSEN, & TALE MASOULEH, MEHDI. (2016). DYNAMIC MODELING AND SENSITIVITY ANALYSIS OF AN N-LINKAGE PLANAR SERIAL ROBOT TO DESIGN PARAMETERS BASED ON SOBOL AND EFAST METHODS. MODARES MECHANICAL ENGINEERING, 16(6), 321-332. SID. https://sid.ir/paper/178778/en

Vancouver: Copy

MEHRAFROOZ BEHZAD, MOHAMMADI MOHSEN, TALE MASOULEH MEHDI. DYNAMIC MODELING AND SENSITIVITY ANALYSIS OF AN N-LINKAGE PLANAR SERIAL ROBOT TO DESIGN PARAMETERS BASED ON SOBOL AND EFAST METHODS. MODARES MECHANICAL ENGINEERING[Internet]. 2016;16(6):321-332. Available from: https://sid.ir/paper/178778/en

IEEE: Copy

BEHZAD MEHRAFROOZ, MOHSEN MOHAMMADI, and MEHDI TALE MASOULEH, “DYNAMIC MODELING AND SENSITIVITY ANALYSIS OF AN N-LINKAGE PLANAR SERIAL ROBOT TO DESIGN PARAMETERS BASED ON SOBOL AND EFAST METHODS,” MODARES MECHANICAL ENGINEERING, vol. 16, no. 6, pp. 321–332, 2016, [Online]. Available: https://sid.ir/paper/178778/en

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