Research of accuracy of industrial robot at work as part of flexible machining cells
Исследование точности промышленного робота при работе в составе гибких производственных ячеек
2020-01-01
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articulated kinematicsflexible machining cellsindustrial robot accuracylaser interferometerrobot stiffness measurement
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Abstract (AI)
Abstract In this paper, the factors affecting the accuracy of an industrial robot with an articulated kinematic as part of flexible production modules were analyzed. The accuracy of the circular movements of the robot gripper depending on the position in the working area and the load applied to the robot. A method for measuring stiffness using a laser interferometer and optics for measuring straightness is proposed. According to the results of the experiments, the types of errors were determined, causing the greatest error in the accuracy of the industrial robot movements. Recommendations on the need to measure certain types of errors when setting up flexible production modules are given.
Key Findings
1
A stiffness-measurement method is proposed using a laser interferometer and optics for measuring straightness.
2
Experiments identify the error types contributing most strongly to inaccuracies in industrial robot movements.
3
Robot gripper circular-motion accuracy varies with its position in the robot’s working area and with the applied load.
4
The study analyzes factors affecting the accuracy of articulated industrial robots operating within flexible production modules.
5
The study provides recommendations on which error types should be measured when commissioning flexible production modules.
Research Object
industrial articulated robot operating as part of flexible machining cells
Research Subject
motion accuracy of the robot gripper, including circular-movement accuracy and error sources, as functions of working-area position and applied load
Publication Details
Publication Date
2020-01-01
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