Screening of factors influencing the performance of manipulator using combined array design of experiment approach

Robotics and Computer-Integrated Manufacturing

Volumn 25, Issue 3, 2009, Pages 651-666

  Rout, B K ^a   Mittal, R K ^a  

^a BIRLA INSTITUTE OF TECHNOLOGY AND SCIENCE   (India)

Author keywords

Control factors; Fractional factorial design; Half normal plot: ANOVA; Link length ratio; Link mass ratio; Manipulator performance variations; Mean positional error; Noise factors; Positional error

Indexed keywords

ANALYSIS OF VARIANCE (ANOVA); DESIGN; DESIGN OF EXPERIMENTS;

CONTROL FACTORS; FRACTIONAL FACTORIAL DESIGN; HALF-NORMAL PLOT: ANOVA; LINK LENGTH RATIO; LINK MASS RATIO; MEAN POSITIONAL ERROR; NOISE FACTORS; POSITIONAL ERROR;

MANIPULATORS;

EID: 61349094867     PISSN: 07365845     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.rcim.2008.05.004     Document Type: Article

References (36)

1. Colson J.C., and Perreira N.D. Quasistatic performance of robots. Robot Comput Integr Manuf 2 (1985) 261-275
2. Benhabib B., Fenton R.G., and Goldenberg A.A. Computer aided joint error analysis of robots joints. IEEE J Robot Autom 3 (1987) 317-323
3. Azadivar F. The effect of joint position errors of industrial robots and their performance in manufacturing operations. IEEE J Robot Autom 3 (1987) 109-114
4. Chen J., and Chao L.M. Positioning error analysis for robot manipulators with all rotary joints. IEEE J Robot Autom 3 (1987) 535-545
5. Bhatti P.K., and Rao S.S. Reliability analysis of robot manipulators. ASME J Mech Transm Autom Des 110 (1988) 175-181
6. Manoochehri S., and Seireg A.A. A computer based methodology for the form synthesis and optimal design of robot manipulators. ASME J Mech Des 112 (1990) 501-507
7. Offodile O.F., and Ugwu K. Evaluating the effect of speed and payload on robot repeatability. Robot Comput Integr Manuf 8 (1991) 27-33
8. Jiang B.C., Chen D.W.H., Black J.T., and Hool J.N. Taguchi-based methodology in determining/optimizing robot process capability. IIE Trans 23 (1991) 169-184
9. Wu C.M., Black J.T., and Jiang B.C. Using Taguchi methods to determine/optimize robot process capability for path following. Robot Comput Integr Manuf 8 (1991) 9-25
10. Kao I., and Gong C. Robot-based computer-integrated manufacturing as applied in manufacturing automation. Robot Comput Integr Manuf 13 (1997) 157-167
11. Agarwal S.K., and Veeraklaew T. Designing robot for optimal performance during repetitive motion. IEEE Trans Robot Autom 14 (1998) 771-777
12. Edan Y., Friedman L., Meherez A., and Slutski L. A three dimensional statistical framework for performance measurement of robotic systems. Robot Comput Integr Manuf 14 (1998) 307-315
13. Mavroidis C., Flanz J., Dubowsky S., Drouet P., and Goiteien M. High performance medical robot requirements and accuracy analysis. Robot Comput Integr Manuf 14 (1998) 329-338
14. Riemer R., and Edan Y. Evaluation of influence of target location on robot repeatability. Robotica 18 (2000) 443-449
15. Rao S.S., and Bhatti P.K. Probabilistic approach to manipulator kinematics and dynamics. Reliab Eng Syst Saf 72 (2001) 47-58
16. Szkodny T. The sensitivities of industrial robot manipulators to errors of motion models parameters. Mech Mach Theory 36 (2001) 673-682
17. Veryha Y., and Kurek J. Application of joint error mutual compensation for robot end-effector pose accuracy improvement. J Intell Robot Syst 36 (2003) 315-329
18. Rout B.K., and Mittal R.K. Parametric robot manipulator design optimization using Taguchi method. Proceedings of the 48th congress of the Indian Society for Theoretical and Applied Mechanics (ISTAM) (2003), IIT Guahati, Assam, India 15-27 December 27-29, 2003
19. Otto K.N., and Antonsson E.K. Extensions of the Taguchi method of product design. Trans ASME J Mech Des 115 (1993) 5-13
20. Chen W., Allen J.K., Tsui K.L., and Mistree F. A procedure for robust design: minimizing variation caused by noise factors and control factors. Trans ASME J Mech Des 118 (1996) 478-485
21. Rout B.K., and Mittal R.K. A review on minimizing variability in product performance with the help of computational tools by controlling active and noise factor for robust design. Proceedings of the national conference on current applications of computers in design engineering (2001), J.N.V. University, Jodhpur, India 13-23 February 3-5, 2001
22. Rout B.K., and Mittal R.K. Parametric tolerance design of manipulator. Proceedings of the conference on emerging trends of mechanical engineering (2005), NIT Kurukshetra, Haryana, India 55-61 March 28-29, 2005
23. Meggiolaro M.A., Dubowsky S., and Mavroidis C. Geometric and elastic error calibration of a high accuracy patient positioning system. Mech Mach Theory 40 (2005) 415-427
24. Alici G., and Shirinzadeh B. A systematic technique to estimate positioning errors for robot accuracy improvement using laser interferometry based sensing. Mech Mach Theory 40 (2005) 879-906
25. Kim J.Y. Task based kinematic design of a two DOF manipulator with a parallelogram five-bar link mechanism. Mechatronics 16 (2006) 323-329
26. Rout B.K., and Mittal R.K. Parametric design optimization of 2-DOF RR planar manipulator. Robot Comput Integr Manuf 24 2 (2008) 239-248
27. Montgomery D.C. Design and analysis of experiments. 5th ed (2001), Wiley, New York
28. Mittal R.K., and Nagrath I.J. Robotics and control (2003), Tata McGraw-Hill, New Delhi
29. Craig J.J. Introduction to robotics mechanics and control. 2nd ed (1989), Pearson Education Inc., Singapore
30. Park S.H. Robust design and analysis for quality engineering (1998), Chapman & Hall, London
31. Cramer C. Mathematical methods of statistics (1946), Princeton University Press, Princeton, NJ
32. Hoel P.G., Port S.C., and Stone C.J. Introduction to stochastic processes (1986), Houghton Mifflin Company, Boston, USA
33. Ariaratnam S.T., Schueller G.I., Elishakoff I., and Lin Y.K. Stochastic structural dynamics (1988), Elsevier, Amsterdam
34. Box G.E.P., Jenkins G.M., and Gregory C.R. Time series analysis: forecasting and control. 3rd ed (1994), Pearson Education Inc., Singapore
35. Wu C.F.J., and Hamada M. Experiments: planning, analysis and parameter design optimization (2000), Wiley, New York
36. Free down load software. Design Expert (DX) Version 6: 〈http://www.statease.com〉.