Computer Engineering Commons^™

Tolerance Specification Of Robot Kinematic Parameters Using An Experimental Design Technique, Y.H. Andrew Liou, Paul P. Lin, Richard R. Lindeke, Hsiang-Dih Chiang

Mechanical Engineering Faculty Publications

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.