The Link Collision Detecting Algorithm for Industrial Robot Performance Testing Instrument

2005 ◽  
Author(s):  
Zhang Xican ◽  
Zheng Shixiong
Keyword(s):  
Industrial Robot ◽  
Performance Testing ◽  
Testing Instrument ◽  
Robot Performance

scholarly journals Diagnosis of the Misaligned Faults of the Vertical Test Instrument of High-Precision Industrial Robot Reducer

2021 ◽  
Vol 2021 ◽  
pp. 1-17
Author(s):  
Zhen Yu ◽  
Yuan Zhang
Keyword(s):  
High Precision ◽  
Industrial Robot ◽  
Performance Testing ◽  
Rotation Frequency ◽  
Torque Ripple ◽  
Industrial Robots ◽  
Rotating Machine ◽  
Torque Transducer ◽  
Misalignment Fault ◽  
The Relationship

High-precision reducer is the core component of industrial robots. In order to achieve the comprehensive performance testing of precision reducers, an instrument with a vertical layout and a cylindrical structure is designed. As a rotating machine, the inevitable coupling misalignment of the instrument can lead to vibration faults which lead to errors in the test. So it is pretty necessary to diagnose and monitor the coupling misalignment while the instrument is working. The causes of the coupling misaligned fault of the instrument and the relationship between the misalignment fault and torque ripple are analyzed in this paper. A method of using the torque transducer in the measurement chain of the instrument to diagnose the coupling misalignment is proposed in this paper. Many experiments have been done to test the capability of detecting the coupling misalignment using this method. Experimental results show that the amplitude of torque ripple of the shaft is linearly related to the coupling misalignment and is quadratically related to the rotation speed of the shaft when the misalignment exists in the shaft. The combination of components at the rotation frequency (fr) and the additional components can be used to diagnose faults due to coupling misalignment.

scholarly journals Examination of industrial robot performance parameters utilizing machine tool diagnostic methods

2020 ◽  
Vol 17 (1) ◽  
pp. 172988142090572
Author(s):  
Ivan Kuric ◽  
Vladimír Tlach ◽  
Miroslav Císar ◽  
Zuzana Ságová ◽  
Ivan Zajačko
Keyword(s):  
Research Method ◽  
Laser Interferometer ◽  
Industrial Robot ◽  
Diagnostic Methods ◽  
Circular Path ◽  
Performance Parameters ◽  
Positional Analysis ◽  
Accuracy And Precision ◽  
Robot Accuracy ◽  
Robot Performance

The article discusses the possibility to identify changes in robot accuracy based on deformation of the circular path measured by the Renishaw Ballbar system. The research method utilizes correlation between industrial robot accuracy and precision of method used for the so-called calibration process. The presented experiments consist of two basic parts. The first is positional analysis with a simulation model of the robot in Creo Parametric 4.0. The second part describe practical measurements using the Renishaw Ballbar QC20-W and the Renishaw XL-80 laser interferometer. The results of the experiments confirm that Renishaw Ballbar can be used to quickly and simply identify occurrence of changes in the condition of an industrial robot.

Correction method for mechanical performance testing instrument with tension–torsion coupling loading

2018 ◽  
Vol 29 (10) ◽  
pp. 105901 ◽  
Author(s):  
Changyi Liu ◽  
Zhichao Ma ◽  
Liming Zhou ◽  
Yuansen Qiao ◽  
Zeyang Liu ◽  
...  
Keyword(s):  
Mechanical Performance ◽  
Performance Testing ◽  
Correction Method ◽  
Testing Instrument

scholarly journals AN ANALYSIS AND DESIGN OF APPLIANCE SERVER PROTOTYPE IN MIDDLE INDUSTRY

2017 ◽  
Vol 5 (2) ◽  
pp. 826
Author(s):  
Gede Saindra Santyadiputra
Keyword(s):  
Performance Testing ◽  
Topology Design ◽  
User Needs ◽  
Testing Instrument ◽  
Analysis And Design ◽  
Validation Test ◽  
Test Instrument ◽  
Small Industry ◽  
Analysis Design ◽  
Initial Research

This is an initial research about development of appliance server prototype for middle industry. The main objective of this study is to analyze and design an alternative server as a solution to providing server device on a small industry. The prorotype used by small industry to implement their information system applications. This study uses ADDIE development method. ADDIE phase that has been used is analysis, design, and some evaluation of them (ADE). The result of analyze is user needs analysis, hardware requirements analysis and software requirement analysis. The result of design is network topology design, hardware architecture design, validation test instrument, feasibility testing instrument, performance testing instrument, evaluation of prototype feasibility instrument and evaluation of server performance instrument. In the future, the result of this study can be used as reference for development and implementation of appliance server in middle industry.

Accuracy improvement: Modeling of elastic deflections

Robotica ◽  
1991 ◽  
Vol 9 (3) ◽  
pp. 327-333 ◽  
Author(s):  
Junjie Yao
Keyword(s):  
High Performance ◽  
Industrial Robot ◽  
Automated Assembly ◽  
Error Sources ◽  
Performance Accuracy ◽  
Assembly Sequences ◽  
Robot Performance ◽  
End Effectors ◽  
The Many ◽  
Improved Model

SUMMARYActual positions of industrial robot end-effectors differ from those commanded off-line. Consequently, it is then difficult for robots to fulfill certain tasks, such as automated assembly sequences or tasks where high performance accuracy is required. This paper shows that the accuracy of robot performance can be improved by introducing deviation matrices which are functions of many possible error sources. As a first approach, an experiment was carried out where structural elastic deflections, one of the many error sources, of a robot ASEA Irb 6/2 were taken into account. The experiment showed that using the improved model, the positioning accuracy of an ASEA Irb 6/2 robot carrying a weight of 5.6kg was improved from 2.5mm to 0.25mm and the orientation accuracy was improved from 0·45° to 0·3°.

scholarly journals Analysis of the Compliance Properties of an Industrial Robot with the Mozzi Axis Approach

Robotics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 80 ◽  
Author(s):  
Doria ◽  
Cocuzza ◽  
Comand ◽  
Bottin ◽  
Rossi
Keyword(s):  
Industrial Robot ◽  
Industrial Robots ◽  
Robotic Assembly ◽  
Robot Arm ◽  
Machined Surface ◽  
End Effector ◽  
Chatter Vibrations ◽  
Modes Of Vibration ◽  
Machining Robot ◽  
Robot Performance

In robotic processes, the compliance of the robot arm plays a very important role. In some conditions, for example, in robotic assembly, robot arm compliance can compensate for small position and orientation errors of the end-effector. In other processes, like machining, robot compliance may generate chatter vibrations with an impairment in the quality of the machined surface. In industrial robots, the compliance of the end-effector is chiefly due to joint compliances. In this paper, joint compliances of a serial six-joint industrial robot are identified with a novel modal method making use of specific modes of vibration dominated by the compliance of only one joint. Then, in order to represent the effect of the identified compliances on robot performance in an intuitive and geometric way, a novel kinematic method based on the concept of “Mozzi axis” of the end-effector is presented and discussed.

scholarly journals A Framework for Multidisciplinary Optimization of a Balancing Mechanism for an Industrial Robot

2015 ◽  
Vol 2015 ◽  
pp. 1-8 ◽  
Author(s):  
Johan A. Persson ◽  
Xiaolong Feng ◽  
Daniel Wappling ◽  
Johan Ölvander
Keyword(s):  
Performance Optimization ◽  
Industrial Robot ◽  
Multidisciplinary Optimization ◽  
Optimal Designs ◽  
Concept Selection ◽  
Reference Design ◽  
Robot Performance ◽  
Better Than

The paper presents a framework that can be used to design and optimize a balancing mechanism for an industrial robot. The framework has the capability to optimize three different concepts: a mechanical, a pneumatic, and a hydropneumatic. Several disciplines are included in the framework, such as dynamic and static analyses of the robot performance. Optimization is performed for each concept and the obtained optimal designs are all better than the reference design. This means that the framework can be used as a tool both to optimize the balancing mechanism and also to support concept selection.

Sign in / Sign up

Export Citation Format

Share Document