Yha. Liou et al., TOLERANCE SPECIFICATION OF ROBOT KINEMATIC PARAMETERS USING AN EXPERIMENTAL-DESIGN TECHNIQUE - THE TAGUCHI METHOD, Robotics and computer-integrated manufacturing, 10(3), 1993, pp. 199-207
This paper presents the tolerance specification of robot kinematic par
ameters using the Taguchi method. The concept of employing inner and o
uter orthogonal arrays to identify the significant parameters and sele
ct the optimal tolerance range for each parameter is proposed. The per
formance measure based on signal-to-noise ratios (S/N) using the Taguc
hi 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.