caa a22 4500 463243773 CHVBK 20180405153320.0 cr unu---uuuuu 170326e20071101xx s 000 0 eng 10.1007/s00158-007-0098-2 doi (NATIONALLICENCE)springer-10.1007/s00158-007-0098-2 Tolerance design of manipulator parameters using design of experiment approach [Elektronische Daten] [B. Rout, R. Mittal] A robotic arm must manipulate objects with high accuracy and repeatability to perform precise tasks. There are many factors that cause variations in performance and they referred as noise factors. A probabilistic approach has been used to model the effects of noise factors and an experimental design technique has been adopted to select optimal tolerance of kinematic and dynamic parameters for minimal performance variations. The control and noise factor arrays are employed to identify statistically significant parameters and their interactions. The performance measures like signal to noise ratio and reliability have been utilized and results are validated by Monte Carlo simulations. The proposed design of experiment methodology requires minimal computations. The tolerance design methodology of manipulator is illustrated by 2-DOF revolute-revolute planar manipulator following cubic and quintic trajectory to perform a task. The statistical analysis of simulated performances is carried out using analysis of variance technique, which showed that statistically significant parameters are independent of trajectory. The individual parameter tolerance sensitivity has also been carried out. Springer-Verlag Berlin Heidelberg, 2007 Tolerance design nationallicence Control factors nationallicence Noise factors nationallicence Positional error nationallicence S/N ratio nationallicence Reliability nationallicence Parameter tolerance sensitivity nationallicence Rout B. Mechanical Engineering Group, Birla Institute of Technology and Science, Pilani, 333031, Rajasthan, India aut Mittal R. Mechanical Engineering Group, Birla Institute of Technology and Science, Pilani, 333031, Rajasthan, India aut Structural and Multidisciplinary Optimization Springer-Verlag 34/5(2007-11-01), 445-462 1615-147X 34:5<445 2007 34 158 https://doi.org/10.1007/s00158-007-0098-2 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s00158-007-0098-2 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Rout B. Mechanical Engineering Group, Birla Institute of Technology and Science, Pilani, 333031, Rajasthan, India aut NATIONALLICENCE 700 1- Mittal R. Mechanical Engineering Group, Birla Institute of Technology and Science, Pilani, 333031, Rajasthan, India aut NATIONALLICENCE 773 0- Structural and Multidisciplinary Optimization Springer-Verlag 34/5(2007-11-01), 445-462 1615-147X 34:5<445 2007 34 158 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer