| Автор | Chunhe Gong |
| Автор | Imin Kao |
| Дата выпуска | 1997 |
| dc.description | In this paper, we apply Taguchi Methods in the framework of concurrent engineering design for robot-based manufacturing sys tems to obtain higher accuracy and repeatability for robot end-effectors. It is well known that the configurations of robot end-effectors in workspace will affect the accuracy and repeatability Taguchi Methods are employed to find the configuration and location within which the accuracy and repeatability are the best. The optimal position with higher accuracy and repeatability is determined by using the signal-to- noise ratios (S/N ratios), which are defined according to the "smaller-the-better" characteristics of Taguchi Methods to measure the accu racy and repeatability The results match well with the theoretical analysis of the repeatability and accuracy of the end-effector based on the kinematic relationship. In addition, we also study the random and systematic errors due to joint uncertainties and examine their effects on the accuracy and repeatability. The analysis using S/N ratios yields results that are consistent with expectation. The results demonstrate that Taguchi Methods and S/N ratios are very useful tools in design for accuracy and repeatability of robotic end-effectors. The sensitivity and consistency of accuracy with respect to the tolerance of joint angles are represented by 3D surfaces. The tolerance design is per formed, using the sensitivity analysis, to satisfy requirements stipulated by design criteria One of the significant results of consistency analysis is the "threshold" value of tolerance for concurrent engineering design considerations. Simulation results show that the consistency of accuracy and repeatability will be increased dramatically once the tolerance is below such a threshold Both sensitivity and consistency analysis are shown to be important in tolerance design for achieving the desired accuracy and repeatability and for enhancing quality. |
| Издатель | Sage Publications |
| Тема | accuracy |
| Тема | repeatability |
| Тема | Taguchi Methods |
| Тема | orthogonal array |
| Тема | smaller-the-better |
| Тема | sensitivity |
| Тема | consistency |
| Тема | tolerance design. |
| Название | Design for Accuracy and Repeatability for Robots Using Taguchi Methods |
| Тип | Journal Article |
| DOI | 10.1177/1063293X9700500306 |
| Print ISSN | 1063-293X |
| Журнал | Concurrent Engineering |
| Том | 5 |
| Первая страница | 263 |
| Последняя страница | 277 |
| Аффилиация | Chunhe Gong, Department of Mechanical Engineering, Manufacturing and Automation Laboratory State University of New York at Stony Brook, Stony Brook, NY 11794-2300 |
| Аффилиация | Imin Kao, Department of Mechanical Engineering, Manufacturing and Automation Laboratory State University of New York at Stony Brook, Stony Brook, NY 11794-2300 |
| Выпуск | 3 |
| Библиографическая ссылка | B. Benhabib , R.G. Fenton, and A.A. Goldenberg. Computer-aided joint error analysis of robots. IEEE J. Robotics Automation , Vol RA-3(4): pp. 317-322, 1987. |
| Библиографическая ссылка | P.K. Bhatti and S.S. Rao. Reliability analysis of robot manipulators . Mechanisms Transmissions Automation in Design, Vol 110:pp.175-181,1988. |
| Библиографическая ссылка | D. Clausing , Taguchi Methods to improve the development process. IEEE International Conference on Communications , June 1988. |
| Библиографическая ссылка | W.L. Cleghorn , R.G. Fenton, and J. Fu . Optimum tolerancing of planar mechanisms based on an error sensitivity analysis. Transactions of the ASME, Vol. 115, 1993. |
| Библиографическая ссылка | J.J. Craig.Introduction to RoboticsAddison-Wesley , 2nd edition, 1989. |
| Библиографическая ссылка | S. Dubowsky , J. Maatuk, and N.D. Perreira. A parameter identification study of kinematic errors in planar mechanisms. ASME paper No. 74-Det-52, 1974. |
| Библиографическая ссылка | C. Gong and I. Kao. Design for Accuracy and Repeatability of robot end-effector using the Taguchi Methods. TR 95-001, Mechanical Engineering Department, SUNY at Stony Brook, 1995. |
| Библиографическая ссылка | A. Goswami, A. Quaid, and M. Peshkin.Complete parameter identification of a robot from partial pose information. IEEE International Conference on Robotics and Automation, Vol.1: pp.168-173, 1993. |
| Библиографическая ссылка | I. Kao and C. Gong. Robot-based computer integrated manufacturing as applied in manufacturing automation. Journal of Robotics and Computer-integrated-Manufacturing , 13(2), 1997. |
| Библиографическая ссылка | A. Liou, P.P. Lin, R.R. Lindeke, and H.D. Chiang.Design methodology of robot kinematic parameter tolerances using Taguchi Methods. Proceedings of the 1992 Japan-USA Symposium on Flexible Automation, 1992 |
| Библиографическая ссылка | A. Liou, P.P. Lin, R.R. Lindeke, and H.D. Chiang.Tolerance specification of robot kinematic parameters using an experimental design technique—The Taguchi Method. Robotics and Computer Integrated Manufacturing, Vol. 10(No. 3): pp. 199-207, 1993. |
| Библиографическая ссылка | ASME News.Genichi Taguchi: The father of quality engineering. ASME News, Vol. 14 (No. 8), December 1994. |
| Библиографическая ссылка | B. Prasad.Concurrent Engineering Fundamentals, Integrated Product and Process Organization, Volume 1. Prentice Hall, 1995. |
| Библиографическая ссылка | G. Taguchi and S. Konishi. Taguchi Methods-Research and Development, Volume 1 of Quality Engineering Series. ASI Press , 1992. |
| Библиографическая ссылка | K. Ting and Y. Long. Performance quality, sensitivity and tolerance specification of mechanisms. Proceedings of the 1994 ASME Design Technical Conference, 1994. |
| Библиографическая ссылка | C.M. Wu , J.T. Black, and B.C. Jiang. Using Taguchi Methods to determine/optimize robot process capability for path following . Robotics and Computer Integrated Manufacturing, Vol. 8 (No. 1 ): pp. 9-25, 1991. |
| Библиографическая ссылка | W. Xu, G. Pritschow, and K. Wurst.Transmission error of modular robotic joint. JSME International Journal, Vol. 37 (No. 4): pp. 765-773, 1994. |
