Accuracy assessment of articulated industrial robots using the Extended- and the Loaded-Double-Ball-Bar

• Autorzy: Marwitz Johann August , Theissen Nikolas Alexander , Gonzalez Monica Katherine , Friedrich Christian , Hellmich Arvid , Archenti Andreas , Ihlenfeldt Steffen

Identyfikatory

DOI

10.36897/jme/149413

• Języki publikacji: EN

Abstrakty

EN

This research paper outlines the methodology and application of geometric and static accuracy assessment of articulated industrial robots using the Extended Double Ball Bar (EDBB) as well as the Loaded Double Ball Bar (LDBB). In a first experiment, the EDBB is used to assess the geometric accuracy of a Comau NJ-130 robot. Advanced measuring trajectories are investigated that regard poses or axes configurations, which maximize the error influences of individual robot components, and, in this manner, increase the sensitivity for a large number of individual error parameters. The developed error-sensitive trajectories are validated in experimental studies and compared to the circular trajectories according to ISO 203-4. Next, the LDBB is used to assess an ABB IRB6700 manipulator under quasi-static loads of up to 600 Newton using circular testing according to ISO 230-4. The stiffness is identified from the loaded circular trajectories. Then, the stiffness is used to perform a reverse calculation to identify the kinematic errors on the path deviations. The concept is validated in a case study of quasi-static loaded circular testing using the LDBB compared to a Leica AT960 laser tracker (LT).

Słowa kluczowe

EN

machine tool; robotics; double ball bar; geometric accuracy; static accuracy

• Wydawca: Wydawnictwo Wrocławskiej Rady FSNT NOT
• Czasopismo: Journal of Machine Engineering
• Rocznik: 2022
• Tom: Vol. 22, No. 2
• Strony: 80--98
• Opis fizyczny: Bibliogr. 33 poz., rys., tab.

Twórcy

autor

Marwitz Johann August

• Fraunhofer Institute for Machine Tools and Forming Technology, Dresden, Germany

autor

Theissen Nikolas Alexander

• KTH Royal Institute of Technology, Stockholm, Sweden

autor

Gonzalez Monica Katherine

• KTH Royal Institute of Technology, Stockholm, Sweden

autor

Friedrich Christian

• Fraunhofer Institute for Machine Tools and Forming Technology, Dresden, Germany

autor

Hellmich Arvid

• Fraunhofer Institute for Machine Tools and Forming Technology, Dresden, Germany

autor

Archenti Andreas

• KTH Royal Institute of Technology, Stockholm, Sweden

autor

Ihlenfeldt Steffen

• Fraunhofer Institute for Machine Tools and Forming Technology, Dresden, Germany
• Institute of Mechatronic Engineering, Chair of Machine Tools Development and Adaptive Controls, TU Dresden, Germany

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