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

2012 ◽  
Vol 229-231 ◽  
pp. 2100-2105
Author(s):  
Son Duy Dao ◽  
Kazem Abhary
Keyword(s):  
Robot Manipulator ◽  
Industrial Robot ◽  
Statistical Significance ◽  
Design Experiment ◽  
Tolerance Design ◽  
Robot Accuracy ◽  
Robot Performance ◽  
The Given

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.

Path Feasibility and Modification Based on the PUMA 560 Workspace Analysis

1994 ◽  
Vol 116 (1) ◽  
pp. 36-43 ◽  
Author(s):  
Kuo-Chiang Shao ◽  
Kuu-young Young
Keyword(s):  
Robot Manipulator ◽  
Industrial Robot ◽  
Practical Application ◽  
Kinematic Constraints ◽  
Workspace Analysis ◽  
Task Requirements ◽  
The Given ◽  
The Relationship ◽  
Robot Workspace

Robot paths are planned according to different industrial tasks. Their kinematic feasibility is restrained by the structure of the given robot manipulator. In order to design feasible paths under kinematic constraints and different task requirements, we propose first to utilize the geometry of the given robot to generate the geometric boundaries of different regions corresponding to kinematic constraints in the robot workspace. Geometric expressions are then derived to describe the relationship about the planned path and the robot workspace. Finally, by applying the developed modification strategies based on different task requirements, feasible paths can be obtained by modifying the infeasible portions of the paths. To demonstrate the proposed feasibility and modification schemes, the PUMA 560 robot manipulator is selected as a case study due to its complexity and practical application. The results are then extended to general wrist-partitioned types of industrial robot manipulators.

scholarly journals DYNAMICS OF THE SEMANTIC COMPLEX OF DOMINANT UNITS IN POETIC TEXT: INTERTEXTUAL ASPECT (a Case Study of L. Cohen’s Poem ‘Elegy’)

2020 ◽  
Vol 12 (4) ◽  
pp. 33-43
Author(s):  
Ilya V. Sergodeev ◽  
Keyword(s):  
Contextual Analysis ◽  
Personal Pronoun ◽  
Greek Mythology ◽  
Unit Of Analysis ◽  
Christian Culture ◽  
Poetic Text ◽  
Artistic Images ◽  
The Given

The article deals with the dynamics of the semantic complex of dominant units in poetic text. Units of poetic text are divided into constant and dominant ones. Constant units realize the function of the context formation. They have one clear meaning. Dominant units realize the function of semantization. They are poly-interpretative. The methodology of the work is based on the theory of intertextuality which is viewed from the position of structural, interpretative and lingua-cultural approaches. The brief typology and characteristics of intertextual relations are given: auto- (self-quotations, self-allusions), in- (quotations, allusions), para- (structural and compositional units of a text such as a title, an epigraph, etc.) and arch-textuality (genre imitation; referring to well-known artistic images or cultural phenomena). The paper presents the model of analysis of dominant units in poetic text. The analysis is carried out in five steps: fragmentation, contextual analysis, search and determination of intertextual relations between the analyzed unit and units of address texts, contextual analysis of address texts, synthesis of the obtained contextual meanings. The practical material under study is the poem Elegy by the Canadian poet L. Cohen. The unit of analysis is the personal pronoun he in the given poetic text. The paper establishes intertextual relations between Elegy and texts from Greek mythology, the Holy Bible, Christian culture, and other works by L. Cohen. The conducted analysis shows that intertextual relations between the studied units initiate exchange and superimposition of their context meanings. As a result, the studied unit can have several meanings (some of which are not present in dictionaries but unique for the given author) within the same context. In this way, the dynamics of the semantic complex of the studied units and poetic text is realized.

scholarly journals Examination of industrial robot performance parameters utilizing machine tool diagnostic methods

2020 ◽  
Vol 17 (1) ◽  
pp. 172988142090572
Author(s):  
Ivan Kuric ◽  
Vladimír Tlach ◽  
Miroslav Císar ◽  
Zuzana Ságová ◽  
Ivan Zajačko
Keyword(s):  
Research Method ◽  
Laser Interferometer ◽  
Industrial Robot ◽  
Diagnostic Methods ◽  
Circular Path ◽  
Performance Parameters ◽  
Positional Analysis ◽  
Accuracy And Precision ◽  
Robot Accuracy ◽  
Robot Performance

The article discusses the possibility to identify changes in robot accuracy based on deformation of the circular path measured by the Renishaw Ballbar system. The research method utilizes correlation between industrial robot accuracy and precision of method used for the so-called calibration process. The presented experiments consist of two basic parts. The first is positional analysis with a simulation model of the robot in Creo Parametric 4.0. The second part describe practical measurements using the Renishaw Ballbar QC20-W and the Renishaw XL-80 laser interferometer. The results of the experiments confirm that Renishaw Ballbar can be used to quickly and simply identify occurrence of changes in the condition of an industrial robot.

scholarly journals Determination of secondary school students' ability of making transitions between representations related to the

2015 ◽  
Vol 5 (5) ◽  
pp. 607-624
Author(s):  
Ebru Ezberci ◽  
Mehmet Altan Kurnaz ◽  
Nezihe Gökçen Bayri
Keyword(s):  
Secondary School ◽  
Secondary School Students ◽  
Measurement Tool ◽  
School Students ◽  
Graphic Representations ◽  
Working Groups ◽  
The Given ◽  
Academic Year

The aim of this study was to reveal secondary school students' ability of making transitions between text, picture, table and graphic representations related to the electricity. The research is a case study of the qualitative research methods. The working groups of the study were totally 100 students, including 50 from each of 6th, 7th and 8th students, studying at a secondary school in the 2012-2013 academic year. To determine the students' status of transitions in representations, a measurement tool relating to the subject of electricity was developed by researches. The measurement consists open-ended questions which questioned transitions representations (text, images, tables and graphics) with each other. Document analysis method was used in data analysis. In this context, determining specific criteria, established codes in accordance with the given answers by the students and the questions was evaluated in certain dimensions. Consequently, students were found to be inadequate to present transitions in representations in electricity. When the results are evaluated, it was suggested that during the teaching of electricity topic, teaching practices to draw attention to transition between different representations and in measurement-assessment processes, the questions reflecting the transition between different representations should be given; regulation the assessment questions in textbooks in this direction is recommended.

Modeling of Accurate Variable Slope Angles in Open-Pit Mine Design Using Spline Interpolation / Modelowanie Zmiennego Kąta Nachylenia Stoku W Projektowaniu Kopalni Odkrywkowych Za Pomocą Interpolacji Funkcjami Sklejającymi (Metodą Spline’Ów)

2012 ◽  
Vol 57 (4) ◽  
pp. 921-932 ◽  
Author(s):  
Masoud Soleymani Shishvan ◽  
Javad Sattarvand
Keyword(s):  
Interpolation Method ◽  
Spline Interpolation ◽  
Slope Angle ◽  
Linear Interpolation ◽  
Open Pit ◽  
Cubic Form ◽  
The Given ◽  
Numerical Case Study

Abstract In this paper a new method of modeling variable slope angles has been presented based on the spline interpolation method. Slope angle modeling and defining precedency of the blocks are the vital parts of almost any open pit optimization algorithm. Traditionally heuristic patterns such as 1:5 or 1:9 have been used to generate slope angles. Cone template based models were later employed in developing variable slope angles. They normally use a linear interpolation process for determination of slope angles between the given directions which leads to sharp and non-realistic pits. The other elliptical alternatives suffer from having limitations in defining slope angles in non-geographical directions. The method is capable to consider any number of slope angles in any desired direction as well as creating quite accurate and realistic pit shapes. Three major types of the spline interpolation including cubic, quadratic and cardinal are tested, however, the cubic form is preferred due to more realistic outcomes. Main steps of the method are described through a numerical case study.

scholarly journals Fission chambers for space effect reduction in the application of the area method: A new approach

Nukleonika ◽  
2020 ◽  
Vol 65 (3) ◽  
pp. 161-166
Author(s):  
Jerzy A. Janczyszyn ◽  
Grażyna Domańska ◽  
Przemysław Stanisz
Keyword(s):  
A Priori ◽  
Computational Simulation ◽  
Area Method ◽  
Detector Position ◽  
Space Effect ◽  
Specific Position ◽  
The Given ◽  
Fission Chambers

AbstractThe possibility of preparing fission chambers for the experimental determination of subcriticality without time-consuming corrections has been presented. The reactor detectors set consists of monoisotopic chambers. Each chamber is intended for a specific position in the system. Individual weights, rated a priori for all detectors in their positions, allow for quick calculation of whole system subcriticality. The inconveniences related to the spatial effect are minimized. This is achieved by computational simulation of the area method results, for each detector position and all possible fissionable and fissile nuclides. Next, one nuclide is selected, specific for the given position, presenting the smallest difference from the MCNP KCODE precisely estimated kkcode. The case study is made using the model of VENUS-F core.

The Role and Place of Budget Procedure in the System

2003 ◽  
pp. 42-49 ◽  
Author(s):  
E. Bushmin
Keyword(s):  
Budget Process ◽  
Public Expenditures ◽  
Principal Role ◽  
Process Trends ◽  
The Given ◽  
Rules Of The Game

The article is devoted to the analysis of improving budget process trends. The author offers the concept of "financial technologism". Its usage should promote an essential improvement of the budget process. The given concept is based on the fact that the regulation of budget procedure is the process of determination of "rules of the game", and the order of interaction of different institutions within the framework of the budget process, and the trends and volumes of expenses are the strategy of institutions. The procedure within the budget process plays a principal role as compared with the trends and volumes of public expenditures.

A novel method for the determination of linting propensity of paper

TAPPI Journal ◽  
2012 ◽  
Vol 11 (10) ◽  
pp. 9-17
Author(s):  
ALESSANDRA GERLI ◽  
LEENDERT C. EIGENBROOD
Keyword(s):  
Ash Content ◽  
The Novel ◽  
Offset Printing ◽  
Excellent Correlation ◽  
End Conditions ◽  
Bottom Side ◽  
Novel Method ◽  
Total Fraction

A novel method was developed for the determination of linting propensity of paper based on printing with an IGT printability tester and image analysis of the printed strips. On average, the total fraction of the surface removed as lint during printing is 0.01%-0.1%. This value is lower than those reported in most laboratory printing tests, and more representative of commercial offset printing applications. Newsprint paper produced on a roll/blade former machine was evaluated for linting propensity using the novel method and also printed on a commercial coldset offset press. Laboratory and commercial printing results matched well, showing that linting was higher for the bottom side of paper than for the top side, and that linting could be reduced on both sides by application of a dry-strength additive. In a second case study, varying wet-end conditions were used on a hybrid former machine to produce four paper reels, with the goal of matching the low linting propensity of the paper produced on a machine with gap former configuration. We found that the retention program, by improving fiber fines retention, substantially reduced the linting propensity of the paper produced on the hybrid former machine. The papers were also printed on a commercial coldset offset press. An excellent correlation was found between the total lint area removed from the bottom side of the paper samples during laboratory printing and lint collected on halftone areas of the first upper printing unit after 45000 copies. Finally, the method was applied to determine the linting propensity of highly filled supercalendered paper produced on a hybrid former machine. In this case, the linting propensity of the bottom side of paper correlated with its ash content.

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