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Determination of the Significance of Tolerance Parameters on Robot Performance Using Taguchi’s Tolerance Design Experiment

Tolerance parameters have different effects on robot accuracy. Therefore, it is better to tighten the tolerances of the factors that have statistically significant effect on robot accuracy and widen the tolerances of insignificant ones. By doing so, one not only achieves the given robot accuracy but also reduces manufacturing costs. Objective of this paper is to present an approach used to determine statistical significance of each tolerance parameter of robot manipulator on robot accuracy which can assist robot designers in making decisions regarding tolerance design. In this paper, a comprehensive model of industrial robot manipulator capable of carrying out various applications is developed and computer simulated. Then Taguchi’s Tolerance Design Experiment is applied to determine the statistical significances of the tolerances on robot accuracy. The approach is illustrated by a case study dealing with 6-DOF PUMA 560 robot manipulator.