FACTORS AFFECTING THE ACCURACY AND REPEATABILITY OF INDUSTRIAL ROBOT POSITIONING

Author:

Pytel Ivan, ,Kokoshko Oleh,Mastylo Rostyslav, ,

Abstract

Industrial robots refer to the most complex products of mechanical engineering and electronic equipment in terms of their labor intensity, accuracy, and a class of manufacture as well as quality requirements. Both static and dynamic positioning inaccuracies occur during their operation. Static positioning depends mainly on such parameters as joint axis geometry and angle offset. Non-geometric parameters include compliance (elasticity of joints and bonds), gear form errors (eccentricity and gear errors), gear backlash, and temperature-related expansion. Dynamic positioning is only relevant for large robots that are subject to high speeds and accelerations. Positioning accuracy is affected by the design features of the robot, the control system, the speed of movement and rotation of the manipulator, temperature, and vibrations, both inherent and caused by the robot's location in production. This research examines the sources of positioning inaccuracy and gives recommendations for improving the positioning characteristics of robots.

Publisher

Lviv Polytechnic National University

Subject

Automotive Engineering

Reference12 articles.

1. [1] EN ISO 9283 International standard Manipulating industrial robots - Performance criteria and related test methods/ 1998-04-01. [Online]. Available: https://standards.iteh.ai/catalog/standards/cen/bd6e0b51- df41-44c2-806f-fbd0f53f30de/ en-iso-9283-1998

2. [2] D. Kumičáková, V. Tlach, M. Císar, Testing the Performance Characteristics of Manipulating Industrial Robots, Transactions of the VŠB - Techn. Un. of Ostrava, Mech. Series 62(1):39-50, Sept. 2016, DOI:10.22223/tr.2016- 1/2009

3. [3] J. A. Batlle, J. M. Font, J. Escodam. Dynamic positioning of a mobile robot using a laser-based goniometer, [Online]. Available: http://www.cim.mcgill.ca/~font/ downloads/ IAV04.pdf

4. [4] O. Kokoshko, I. Pytel. «Analysis of influencing factors on the repeatability of robotic systems» III Int. Student Sc. Conf. "Globalization of scientific knowledge: international cooperation and integration of fields of sciences", Dnipro, 2022, pp.108-111. DOI: 10/36074/liga-inter-23/09.

5. [5] R. Kluz, T. Trzepieciński, The repeatability positioning analysis of the industrial robot arm. Assembly Automation, July 2014, DOI:10.1108/AA-07-2013-070

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3