Design for Accuracy and Repeatability for Robots Using Taguchi Methods

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 ra...