In this study, an algorithm that may predict the accuracy of robot and provide economical allocation of error sources is presented.
The algorithm is applied to the robot with three rotary joints ignoring dynamic effects. Through Monte-Carlo simulation, the statistical characteristics of accuracy are analysed. In allocation of error sources, manufacturing costs for elements of robot are given as input data and design sensitivity is calculated by finite difference method.
Application of the procedure to computer-simulated data shows that the effects of clearance, widths of journal and perpendicularity of journal are dominant and the effect of positional tolerances is relatively small.