Tolerance Specification of Robot Kinematic Parameters Using an Experimental Design Technique

Y.H. Andrew Liou; Paul P. Lin; Richard R. Lindeke; Hsiang-Dih Chiang

doi:10.1016/0736-5845(93)90055-O

Tolerance Specification of Robot Kinematic Parameters Using an Experimental Design Technique

Y.H. Andrew Liou
, Paul P. Lin
, Richard R. Lindeke
, Hsiang-Dih Chiang

Cleveland State University
University of Minnesota - Duluth

Research output: Contribution to journal › Article › peer-review

Abstract

This paper presents the tolerance specification of robot kinematic parameters using the Taguchi method . The concept of employing inner and outer orthogonal arrays to identify the significant parameters and select the optimal tolerance range for each parameter is proposed. The performance measure based on signal-to-noise ratios (S/N) using the Taguchi method is validated by Monte Carlo simulations. Finally, a step-by-step tolerance specification methodology is developed and illustrated with a planar two-link manipulator and a five-degree-of-freedom Rhino robot .

Original language	American English
Journal	Robotics and Computer-Integrated Manufacturing
Volume	10
DOIs	https://doi.org/10.1016/0736-5845(93)90055-O
State	Published - Jun 1 1993

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Robotics

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http://journals.ohiolink.edu/ejc/article.cgi?issn=07365845&issue=v10i0003&article=199_tsorkpaedttm

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title = "Tolerance Specification of Robot Kinematic Parameters Using an Experimental Design Technique",

abstract = " This paper presents the tolerance specification of robot kinematic parameters using the Taguchi method . The concept of employing inner and outer orthogonal arrays to identify the significant parameters and select the optimal tolerance range for each parameter is proposed. The performance measure based on signal-to-noise ratios (S/N) using the Taguchi method is validated by Monte Carlo simulations. Finally, a step-by-step tolerance specification methodology is developed and illustrated with a planar two-link manipulator and a five-degree-of-freedom Rhino robot .",

author = "Liou, \{Y.H. Andrew\} and Lin, \{Paul P.\} and Lindeke, \{Richard R.\} and Hsiang-Dih Chiang",

note = "Andrew Liou, Y., Lin, P., Lindeke, R., , \& Chiang, H. (1993). Tolerance specification of robot kinematic parameters using an experimental design technique-the Taguchi method. Robotics and Computer Integrated Manufacturing, 10(3), 199-207. doi:10.1016/0736-5845(93)90055-O",

year = "1993",

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doi = "10.1016/0736-5845(93)90055-O",

language = "American English",

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T1 - Tolerance Specification of Robot Kinematic Parameters Using an Experimental Design Technique

AU - Liou, Y.H. Andrew

AU - Lin, Paul P.

AU - Lindeke, Richard R.

AU - Chiang, Hsiang-Dih

N1 - Andrew Liou, Y., Lin, P., Lindeke, R., , & Chiang, H. (1993). Tolerance specification of robot kinematic parameters using an experimental design technique-the Taguchi method. Robotics and Computer Integrated Manufacturing, 10(3), 199-207. doi:10.1016/0736-5845(93)90055-O

PY - 1993/6/1

Y1 - 1993/6/1

N2 - This paper presents the tolerance specification of robot kinematic parameters using the Taguchi method . The concept of employing inner and outer orthogonal arrays to identify the significant parameters and select the optimal tolerance range for each parameter is proposed. The performance measure based on signal-to-noise ratios (S/N) using the Taguchi method is validated by Monte Carlo simulations. Finally, a step-by-step tolerance specification methodology is developed and illustrated with a planar two-link manipulator and a five-degree-of-freedom Rhino robot .

AB - This paper presents the tolerance specification of robot kinematic parameters using the Taguchi method . The concept of employing inner and outer orthogonal arrays to identify the significant parameters and select the optimal tolerance range for each parameter is proposed. The performance measure based on signal-to-noise ratios (S/N) using the Taguchi method is validated by Monte Carlo simulations. Finally, a step-by-step tolerance specification methodology is developed and illustrated with a planar two-link manipulator and a five-degree-of-freedom Rhino robot .

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M3 - Article

VL - 10

JO - Robotics and Computer-Integrated Manufacturing

JF - Robotics and Computer-Integrated Manufacturing

ER -

Tolerance Specification of Robot Kinematic Parameters Using an Experimental Design Technique

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