外文資料翻譯--人工和工業(yè)機(jī)器人重復(fù)操作定位精度比較-文庫吧
2025-04-17 04:40 本頁面
【正文】 out bracing. 2 Method Position repeatability tests were performed in accordance with ISO 9283 standard for manipulating industrial robots [6]. The cube with maximum volume was located in the workspace of the most frequent anticipated use. Five points (P1P5) were located on the diagonals of the selected plane as shown in . Contactless OPTOTRAK174。/3010 motion analysis system was used for measuring of the actual positions (see Fig. 2). Measurements were taken at the poses P1, P2, P3, P4 and P5. The position repeatability expresses the closeness of the attained positions after 30 repeated visits to the same manded position, as required by the ISO 9283 standard. The repeatability is calculated by the following equations: ,3 DSDr ?? (1) ,1 1??? nj jDnD (2) ,)()()( 222 zzyyxxD jjjj ?????? (3) Fig. 1. Definition of the measuring points (P1P5) inside the robot workspace. 2 Fig. 2. Measuring equipment for position repeatability testing. ,1)(12?????nDDSnj jD (4) where xj, yj, zj represent nominal positions, zyx , mean actual positions and SD is the positional standard deviation. The repeatability tests were made for (1) robot, (2) braced robot, (3) human operator and (4)human operator with his forearms braced. In cases (1) and (2) the nominal poses were manded by the robot program. The same standard requirements were involved in the tests with human operator. The nominal poses were manded by a wire frame with five ring targets which were positioned into the working space of the operator. The operator held in his hand the same measuring rigid body as the robot. Approximately the same volume of the working space was chosen for the operator as for the robot. A saddle shaped support body was used in case (2). In case (4) a horizontal bar was used to support the human operator39。s forearm. The four measuring situations are shown in . 3 Testing and results Asea Irb 6 industrial manipulating robot was tested in our experiments. Additional segment was attached to the robot enabling bracing against the support body. For the case (1) () the weight of additional segment was kg, while in the case (2) () it was kg. The difference was due to the construction details of a bracing segment. The weight of the measuring rigid body held by human operator was kg. Three persons were tested. 5% of the total human operator39。s weight was assumed as arm weight. Additional dummy weight with the mass of kg was attached to the human39。s hand simulating the same tool as held by the robot. Approximate weighttopayload ratios were 3 (a) free robot 82, (b) human operator , (c) braced robot 62, (d) human operator with bracing 5. Four types of measurements (a) free robot, (b) human operator, (c) braced robot and (d) human operator with braced forearm. The result
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