Sensitivity Analysis of Single Flexible Link Based on Sobol's Method

The goal of this paper is to use Sensitivity Analysis (SA) method to improve the performance of the system and to make the best decision of choosing the appropriate dimensions of the flexible link to optimize the system. In this paper the SA of the geometric parameters such as: length, thickness and width of a single link flexible manipulator on maximum deflection (MD) of the end effector and vibration energy (VE) of that point by using Sobol’s method are conducted. The full dynamic model of the system is developed based on Gibbs-Appel (G-A) formulation. In this paper, Timoshenko beam theory (TBT) and Euler-Bernoulli beam theory (EBBT) are used to find the end-point MD and VE of the end effector. So, at first the assumption of TBT has been performed to consider the effects of shear and rotational inertia. Then, EBBT is used. In continue Sobol’s sensitivity analysis method is applied to determine how VE and end-point MD is influenced by those geometric parameters. Finally, results of two mentioned theories are compared.

Keywords:

Euler-Bernoulli , Timoshenko , Sensitivity analysis , Sobol