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-文庫吧資料
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【正文】 28（ 1998） 415421 人工和工業(yè)機(jī)器人重復(fù)操作定位精度比較 Jure Zupancic*, Tadej Bajd 盧布爾雅那大學(xué)電氣工程學(xué)院， Trz207。 , A. Kralj, Modeling of a braced robot with fourbar mechanism, in: J. Lenarc207。 , Enhancing robot mechanism performances by using mechanical support: kinematic analysis, in:Proceedings of the 3rd International Workshop on Advances in Robot Kinematics, Ferrara, Italy, 1992, . [5] W. Book, S. Le, V. Sangveraphunsiri, Bracing strategy for robot operation, in: Proceedings of the Symposium on the Theory and Practice of Robots and Manipulators, Udine, 1984, pp. 179185. 6 [6] Manipulating industrial robots: performance criteria and related test methods, ISO 9283, International Organization for Standardization, 1988. [7] J. Zupanc207。Alfio, Design and testing of carbon fiber robots, in: Proceedings of the 2nd International Conference on Robotics, Dubrovnik, 1989, pp. 361372. [4] J. Zupanc207。 ic207。 and Ivan Lonc207。s performances concerning positional repeatability. ISO 9283 standard for ma nipulating industrial robot performance criteria and related test methods was the basis for the parative study. The testing equipment was built around the contactless 3D motion analysis system 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 assessment could be applied also in ergonomic studies. 5 Summary The industrial manipulating robots are usually more or less accurate structural copies of human operator39。s forearm. The four measuring situations
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