Robotics and Computer-Integrated Manufacturing
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.
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
NOTICE: this is the author’s version of a work that was accepted for publication in Robotics and Computer-Integrated Manufacturing. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Robotics and Computer-Integrated Manufacturing, 10, 3, (06-01-1993); 10.1016/0736-5845(93)90055-O