1. Workspace Characterization of a Robotic System Using Reliability-Based Design Optimization Jeremy Newkirk, Alan Bowling and John E. Renaud University of Notre Dame, Notre Dame, Indiana

2. Dynamic Performance Equations of motion 2 DOF Robot Design actuator torques

3. Dynamic Capability Equations actuator torques

4. Dynamic Capability Curve

5. Deterministic Optimization Problem 90 7070 5050 3030

6. Motivation Optimized deterministic designs can lead to catastrophic failure 90 7070 5050

7. Determining the Probability of Failure

8. Change of Variables where

9. Performance Measure Approach (PMA) Estimate of the probability of failure

10. Reliability Based Design Optimization Constraints on probability of failure are added to deterministic constraints

11. Design and Random Parameters Statistics for the Random Variables

12. Results: Characterization of Robotic System

13. Conclusions RBDO can be used to characterize the workspace of a robotic system to determine the actuator torque requirements RBDO approach eliminates the need to sample

14. Future Work Solve the singularity issue Once the singularity issue is resolved apply RBDO to a more complicated (i.e. larger degree of freedom) system and test to ensure accuracy of results Apply RBDO to an actual robotic system and check accuracy of results experimentally

15. Questions?