Title :
Objective metric study for DOE-based parameter optimization in robotic torque converter assembly
Author :
Gravel, Dave ; Zhang, George ; Bell, Arnold ; Zhang, Biao
Author_Institution :
Adv. Manuf. Technol. Dev., Ford Motor Co., Livonia, MI, USA
Abstract :
This paper presents the objective metric study on design of experiments (DOE)-based robotic force control parameter optimization in transmission torque converter assembly. Based on a real-world assembly production process, investigation and analysis are performed on the optimization metrics of assembly cycle time mean (MEAN), its mean plus three times of standard deviation (MEAN+3*STDEV), and first time through (FTT) rate. Simulations have been conducted to illustrate and explain the findings in the parameter optimization practice. Practical metric criteria have been proposed and discussed. An on-pendant robotic assembly parameter optimization tool with the objective metric concept is introduced. And automatic parameter optimization or online robot learning feature is also mentioned in terms of the objective metrics for the particular robot assembly parameter optimization tasks. Finally conclusions are drawn and discussion and further investigation is proposed.
Keywords :
design of experiments; force control; optimisation; robotic assembly; torque control; torque convertors; DOE-based parameter optimization; assembly cycle time mean; design of experiment; objective metric study; on-pendant robotic assembly; robotic assembly parameter optimization; robotic force control parameter optimization; robotic torque converter assembly; transmission torque converter assembly; Assembly systems; Force control; Force sensors; Industrial control; Intelligent robots; Robot sensing systems; Robotic assembly; Robotics and automation; Service robots; Torque converters; Design of Experiments; Industrial robot; force control; parameter optimization;
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
DOI :
10.1109/IROS.2009.5353959