Tolerance analysis is a difficult task and an optimum tolerance allocation for individual parts is done to reduce the process error. This paper articulates the effect of changes in the link lengths due to manufacturing tolerance variation on the target path, assembly cost and joint torques of an R-R-R (three revolute joints) configuration planar three link robot manipulator. Genetic Algorithm (GA) and Elitist Non-dominated Sorting Genetic Algorithm-II (NSGA-II) are utilized to find optimum link lengths for the three link planar manipulator to minimize the errors. The analyses are further extended to identify the effect due to the three types of tolerances (fine, medium and coarse tolerances) on link lengths using C program codes and the results obtained from evolutionary algorithms are compared.

中文翻译：

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进化技术对三连杆平面机械手代数位置和关节扭矩的参数公差影响

公差分析是一项艰巨的任务，并且为各个零件分配最佳的公差以减少过程误差。本文阐明了由于制造公差变化而引起的链节长度变化对目标路径，装配成本和RRR（三个旋转接头）配置平面三链节机器人操纵器的接头扭矩的影响。遗传算法（GA）和Elitist非支配排序遗传算法II（NSGA-II）用于为三连杆平面操纵器找到最佳连杆长度，以最大程度地减少误差。使用C程序代码进一步扩展分析以识别由于三种类型的公差（精细，中等和粗略公差）对链接长度的影响，并对从进化算法获得的结果进行比较。