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-wenkub
2023-05-19 04:40:48 本頁面
【正文】 human operator [2].The reduction of this ratio is highly related to overall robot efficiency from technical and economical point of view. Traditional principles for improving this ratio are introducing lighter materials [3], new construction solutions and design of new actuators. In a special case, it is possible to increase the robot absolute accuracy and repeatability by using appropriate bracing [4]. The method of bracing [5] is a direct copy of human behavior where the adaptation to higher accuracy and repeatability requirements during the fine motion operation is required. A human operator, when performing precise manipulation tasks, often finds supports for his forearm, wrist or elbow like in many working situations watchmakers are practicing. The same simple idea can be transferred 1 into robotics. Apart from some estimations, there was no explicit parison made between human operator and adequate robot performances. The aim of this investigation was to make concise technical parison of robot and human operator performance with and without 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。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 results of the repeatability test in free robot and braced robot. 4 The results of the repeatability test in free human operator and with bracing. In the next four histograms (Figs. 4 and 5) the results of the position repeatability for the four specified types of testing are presented. The repeatability of the braced robot as pared to the free robot was improved for approximately 50%. The same improvement in the human operator was for about 25%. Note,that the weighttopayload ratio for robot was more than 10_ higher than for human operator. 4 Conclusion Applying bracing strategy during robot manipulation is a copy of human behavior. Position repeatability performance criteria were studied. Repeatability measurements according to ISO 9283 were performed with industrial manipulating robot. For the first time, the same measurement of position repeatability under condition of ISO 9238 standard was used in the test of a human operator performance. The results show significant improvement of position repeatability in cases when the robot and the human operator are braced against the supporting body. The parative study encouraged researchers for further investigation of bracing strategy [7]. Same approaches to human operator position repeatability a
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