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.

scholarly journals Industrial Robot Positioning Performance Measured on Inclined and Parallel Planes by Double Ballbar

2021 ◽  
Vol 11 (4) ◽  
pp. 1777
Author(s):  
Ivan Kuric ◽  
Vladimír Tlach ◽  
Milan Sága ◽  
Miroslav Císar ◽  
Ivan Zajačko
Keyword(s):  
Machine Tools ◽  
Industrial Robot ◽  
Industrial Robots ◽  
Cnc Machine Tools ◽  
Circular Path ◽  
Robot Arm ◽  
Cnc Machine ◽  
Positional Analysis ◽  
Polar Graph ◽  
Robot Positioning

Renishaw Ballbar QC20–W is primarily intended for diagnostics of CNC machine tools, but it is also used in connection with industrial robots. In the case of standard measurement, when the measuring plane is parallel to the robot base, not all robot joints move. The purpose of the experiments of the present article was to verify the hypothesis of the motion of all the robot joints when the desired circular path is placed on an inclined plane. In the first part of the conducted experiments is established hypothesis is confirmed, through positional analysis on a simulation model of the robot. They are then carried out practical measurements being evaluated the influence of individual robot joints to deform the circular path, shown as a polar graph. As a result, it is found that in the case of the robot used, changing the configuration of the robot arm has the greatest effect on changing the shape of the polar graph.

Determination of the Significance of Tolerance Parameters on Robot Performance Using Taguchi’s Tolerance Design Experiment

2012 ◽  
Vol 229-231 ◽  
pp. 2100-2105
Author(s):  
Son Duy Dao ◽  
Kazem Abhary
Keyword(s):  
Robot Manipulator ◽  
Industrial Robot ◽  
Statistical Significance ◽  
Design Experiment ◽  
Tolerance Design ◽  
Robot Accuracy ◽  
Robot Performance ◽  
The Given

Tolerance parameters have different effects on robot accuracy. Therefore, it is better to tighten the tolerances of the factors that have statistically significant effect on robot accuracy and widen the tolerances of insignificant ones. By doing so, one not only achieves the given robot accuracy but also reduces manufacturing costs. Objective of this paper is to present an approach used to determine statistical significance of each tolerance parameter of robot manipulator on robot accuracy which can assist robot designers in making decisions regarding tolerance design. In this paper, a comprehensive model of industrial robot manipulator capable of carrying out various applications is developed and computer simulated. Then Taguchi’s Tolerance Design Experiment is applied to determine the statistical significances of the tolerances on robot accuracy. The approach is illustrated by a case study dealing with 6-DOF PUMA 560 robot manipulator.

Investigation of Synchronous Accuracy of Dual Arm Motion of Industrial Robot

2012 ◽  
Vol 516 ◽  
pp. 234-239 ◽  
Author(s):  
Wei Wu ◽  
Toshiki Hirogaki ◽  
Eiichi Aoyama
Keyword(s):  
Rotational Motion ◽  
Manufacturing Systems ◽  
Industrial Robot ◽  
Circular Path ◽  
Stable Operation ◽  
Motion Error ◽  
Ball Rolling ◽  
Arm Motion ◽  
Five Axis ◽  
Dual Arm

Recently, new needs have emerged to control not only linear motion but also rotational motion in high-accuracy manufacturing fields. Many five-axis-controlled machining centres are therefore in use. However, one problem has been the difficulty of creating flexible manufacturing systems with methods based on the use of these machine tools. On the other hand, the industrial dual-arm robot has gained attention as a new way to achieve accurate linear and rotational motion in an attempt to control a working plate like a machine tool table. In the present report, a cooperating dual-arm motion is demonstrated to make it feasible to perform stable operation control, such as controlling the working plate to keep a ball rolling around a circular path on it. As a result, we investigated the influence of each axis motion error on a ball-rolling path.

Qualification of a chemotherapy-compounding robot

2019 ◽  
Vol 26 (2) ◽  
pp. 312-324
Author(s):  
Marion Jobard ◽  
Marie-Laure Brandely-Piat ◽  
François Chast ◽  
Rui Batista
Keyword(s):  
Aqueous Solution ◽  
Critical Point ◽  
Active Principle ◽  
Microbiological Contamination ◽  
Injectable Drugs ◽  
Accuracy And Precision ◽  
Peristaltic Pumps ◽  
Robot Accuracy ◽  
Class Environment ◽  
Viscous Solution

KIRO® Oncology (Kiro Grifols, Spain) is a robotic system for automated compounding of sterile injectable drugs including intravenous cytotoxic treatments. The present article describes the qualification procedure applied prior to production phases. Peristaltic pumps which ensure the reconstitution of drugs were tested with water and NaCl 0.9%. The performance of the robot (accuracy and precision) to prepare bags, syringes and elastomeric pumps was evaluated with three placebo solutions (aqueous, foaming and viscous) using gravimetric controls. Microbiological controls were also performed. The pumps met the requirements set for volumes ranging from 5 to 100 mL. A total of 274 preparations was compounded. For the bags, the filling accuracy was within the limit of ±10% from 1 to 48 mL with aqueous solution, from 0.6 to 48 mL with foaming solution and from 5 to 48 mL with viscous solution. For all syringes and elastomeric pumps, it was within the limit of ±10%. The precision was validated for all preparations, except for bags and syringes prepared with 0.6 and 0.25 mL, respectively. The samples of surfaces and air complied with ISO 5 class environment. Among the 24 gloves tests performed, two presented microbiological growth. All Media fill tests were validated. The qualification procedure led us to exclude injections of any active principle volume strictly lower than 1 mL. The microbiological contamination of operators' gloves remains a critical point. Our operators will be made aware of the issue during the training period.

Industrial Robot Accuracy Degradation Monitoring and Quick Health Assessment

2019 ◽  
Vol 141 (7) ◽  
Author(s):  
Guixiu Qiao ◽  
Brian A. Weiss
Keyword(s):  
Production Efficiency ◽  
Health Management ◽  
Research Effort ◽  
Industrial Robot ◽  
Health Assessment ◽  
Test Method ◽  
Health State ◽  
Future Health ◽  
Robot Accuracy ◽  
Degradation Monitoring

Robot accuracy degradation sensing, monitoring, and assessment are critical activities in many industrial robot applications, especially when it comes to the high accuracy operations which may include welding, material removal, robotic drilling, and robot riveting. The degradation of robot tool center accuracy can increase the likelihood of unexpected shutdowns and decrease manufacturing quality and production efficiency. The development of monitoring, diagnostic and prognostic (collectively known as prognostics and health management (PHM)) technologies can aid manufacturers in maintaining the performance of robot systems. PHM can provide the techniques and tools to support the specification of a robot’s present and future health state and optimization of maintenance strategies. This paper presents the robotic PHM research and the development of a quick health assessment at the U.S. National Institute of Standards and Technology (NIST). The research effort includes the advanced sensing development to measure the robot tool center position and orientation; a test method to generate a robot motion plan; an advanced robot error model that handles the geometric/nongeometric errors and the uncertainties of the measurement system, and algorithms to process measured data to assess the robot’s accuracy degradation. The algorithm has no concept of the traditional derivative or gradient for algorithm converging. A use case is presented to demonstrate the feasibility of the methodology.

scholarly journals Design of an Accurate and Stiff Wooden Industrial Robot: First Steps Toward Robot Eco-sustainable Mechanical Design

2020 ◽  
Vol 12 (5) ◽  
Author(s):  
Sébastien Briot ◽  
Lila Kaci ◽  
Clément Boudaud ◽  
David Llevat Pamiès ◽  
Pauline Lafoux ◽  
...  
Keyword(s):  
Design Process ◽  
Mechanical Design ◽  
Control Strategies ◽  
Industrial Robot ◽  
Integrated Design ◽  
Industrial Robots ◽  
Stiffness Ratio ◽  
Robot Accuracy ◽  
Integrated Design Process ◽  
Accuracy Performance

Abstract This article investigates the feasibility of replacing metal robot links by wooden bodies for eco-sustainable design’s purpose. Wood is a material with low environmental impact and a good mass-to-stiffness ratio. However, it has significant dimensional and mechanical variabilities. This is an issue for industrial robots that must be accurate and stiff. To guarantee stiffness and accuracy performance of a wooden robot, we propose an integrated design process combining (i) proper wood selection, (ii) adequate sensor-based control strategies to ensure robot accuracy, and (iii) a robust design approach dealing with wood uncertainties. Based on the use of this integrated design process, a prototype of a wooden five-bar mechanism is designed and manufactured. Experimental results show that it is realistic to design a wooden robot with performance compatible with industry requirements in terms of stiffness (deformations lower than 400 μm for 20 N loads) and accuracy (repeatability lower than 60 μm), guaranteed in a workspace of 800 mm × 200 mm. This study provides a first step toward the eco-sustainable mechanical design of robots.

Measurement of 2D Positioning “Error Map” of a SCARA-Type Robot Over the Entire Workspace by Using a Laser Interferometer and a PSD Sensor

2020 ◽  
Author(s):  
Masatoshi Tomita ◽  
Soichi Ibaraki
Keyword(s):  
Laser Interferometer ◽  
Industrial Robot ◽  
Positioning Error ◽  
Dimensional Error ◽  
Absolute Positioning ◽  
Psd Sensor ◽  
Position Sensitive ◽  
Set Up ◽  
Original Line ◽  
The Given

Abstract Compared to positioning repeatability, the “absolute” positioning accuracy of an industrial robot is often significantly worse. In this paper, we propose a method to measure the 2D absolute positioning error of a SCARA robot. Over the given laser line, the linear positioning deviation and the straightness deviation are measured by using a laser interferometer and a position sensitive detector (PSD), respectively. Then, multiple laser lines are set up by using an optical square such that the parallelism or the squareness to the original line can be ensured. By similarly measuring linear positioning and straightness deviations over these laser lines, the robot’s 2D positioning error can be visually represented as a two-dimensional error map.

scholarly journals Study on Measurement of Spatial Motion Trajectory Based on Laser Tracing Measurement System

2011 ◽  
Vol 2-3 ◽  
pp. 358-361
Author(s):  
Da Zhong Guo ◽  
Yuan Yuan Zou ◽  
Si Jun Zhu ◽  
Ming Yang Zhao
Keyword(s):  
High Speed ◽  
Laser Interferometer ◽  
Industrial Robot ◽  
Linear Measurement ◽  
Detection Accuracy ◽  
Position Measurement ◽  
High Detection ◽  
Photo Detection ◽  
Positional Precision ◽  
Speed Response

In this paper an approach of measuring the positional precision of the execution terminal of the industrial robot is introduced, and the approach based on a non-contact laser tracing measurement has the advantage of high-speed response, high detection accuracy and non-contact measurement. This method utilizes the linear motion units and photo detection units to trace the target actively. The measurement of the target coordinates are measured with the laser interferometer linear measurement module and the grating ruler. This system can achieve the position measurement of the planar motion objects without contact in real-time condition and also possesses the high precision.

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