Measurement and analysis of repeated positioning accuracy of industrial robot based on fatigue test
The positioning accuracy of industrial robot is an important index to measure the working performance of robot.According to the national standard,laser tracker is generally used to complete a single group measurement experiment.This method ignores the fact that the robot is in the fatigue working state for a long time in practical application,and the repeated positioning accuracy will shift with the ag-ing of joint components,so it can not truly reflect the working performance level of the robot.To address this issue,an experimental platform with laser rangefinder as measuring tool and robot end load block as measuring point was designed to monitor the trend of repeated positioning accuracy of the robot in the long-term fatigue test environment.At the same time,the experimental flow control method based on robot fatigue test and repeated positioning accuracy test was designed.Finally,an industrial robot with a load of 6 kg was used as the experimental object for long-term repeated positioning accuracy measurement and data analysis.The results show that under the influence of long-term fatigue operation,the repeti-tive positioning accuracy of robots shows a significant downward trend,verifying the impact of aging of key components of robots on positioning accuracy.Compared with the single set of measurement experi-ment results in the national standard,the measured data results in the fatigue test process are more in line with the actual application of enterprises,and more representative and reference significance.
industrial robotrepeated positioning accuracyfatigue test
万方数据
维普
