Determination of influence of the parameters connected with the stabilization of the position on the 5-axis manipulators’ operation accuracy

• Autorzy: Gaska A. , Harmatys W. , Gruza M. , Gaska P. , Sladek J.

Identyfikatory

DOI

10.5604/01.3001.0012.0926

• Języki publikacji: EN

Abstrakty

EN

The 5-axis systems, especially those that use in their kinematic chain both prismatic joints and revolute kinematic pairs are gaining popularity in many scientific disciplines with manufacturing, metrology and robotics at the forefront. This is therefore important to undertake research aiming in identification of sources of inaccuracies in their functioning and investigation on possibility of eliminating or compensating them. A significant impact on 5-axis kinematic structures accuracy may be assigned to parameters associated with the stabilization of the machine position and angular position, such as position stabilization time, position overshoot and drift of positioning accuracy. These parameters are well described in ISO 9283 standard related to performance criteria and test methods for industrial robots. The methodology presented in this standard is adapted for testing the impact of mentioned parameters for functioning of 5-axis kinematic structures other than industrial robots, which mainly include five-axis coordinate measuring systems and machine tools. A series of experiments performed on five-axis coordinate measuring system is presented in this paper, their results are assessed in a quantitative manner and basing on them a general algorithm for assessing the significance of impact of position stabilization parameters on functioning of the manipulator is proposed.

Słowa kluczowe

EN

pose accuracy; 5-axis system; LaserTracer; CMM

• Wydawca: Wydawnictwo Wrocławskiej Rady FSNT NOT
• Czasopismo: Journal of Machine Engineering
• Rocznik: 2018
• Tom: Vol. 18, No. 2
• Strony: 54--63
• Opis fizyczny: Bibliogr. 12 poz., rys., tab.

Twórcy

autor

Gaska A.

• Cracow University of Technology, Faculty of Mechanical Engineering, Laboratory of Coordinate Metrology, Cracow, Poland

autor

Harmatys W.

• Cracow University of Technology, Faculty of Mechanical Engineering, Laboratory of Coordinate Metrology, Cracow, Poland

autor

Gruza M.

• Cracow University of Technology, Faculty of Mechanical Engineering, Laboratory of Coordinate Metrology, Cracow, Poland

autor

Gaska P.

• Cracow University of Technology, Faculty of Mechanical Engineering, Laboratory of Coordinate Metrology, Cracow, Poland

autor

Sladek J.

• Cracow University of Technology, Faculty of Mechanical Engineering, Laboratory of Coordinate Metrology, Cracow, Poland

Bibliografia

• [1] RAHMAN M.M., MAYER R., 2016, Calibration Performance Investigation of an Uncalibrated Indigenous Artefact Probing for Five-Axis Machine Tool, J. Mach. Eng., 16/1, 33-42.
• [2] WANG Z., WANG D., WU Y., DONG H., YU S., 2017, Error Calibration of Controlled Rotary Pairs in Five-Axis Machining Centers Based on the Mechanism Model and Kinematic Invariants, Int. J. Mach. Tool. Manuf., 120, 1-11.
• [3] TUREK P., JĘDRZEJEWSKI J., MODRZYCKI W., 2010, Methods of Machine Tool Error Compensation, J. Mach. Eng., 10/4, 5-25.
• [4] GĄSKA A., GĄSKA P., GRUZA M., 2016, Simulation Model for Correction and Modeling of Probe Head Errors in Five-Axis Coordinate Systems, Appl. Sci., 5, 144.
• [5] RAMU P., YAGUE J.A., HOCKEN R.J., MILLER J., 2011, Development of a Parametric Model and Virtual Machine to Estimate Task Specific Measurement Uncertainty for a Five-Axis Multi-Sensor Coordinate Measuring Machine, Precis. Eng., 35, 431-439.
• [6] ISO 9283:1998 Manipulating Industrial Robots — Performance Criteria and Related Test Methods.
• [7] BARNFATHER J.D., GOODFELLOW M.J., ABRAM T., 2016, A Performance Evaluation Methodology for Robotic Machine Tools Used in Large Volume Manufacturing, Robot Comput. Integr. Manuf., 37, 49-56.
• [8] JOUBAIR A., ZHAO L.F., BIGRAS P., BONEY I., 2015, Absolute Accuracy Analysis and Improvement of a Hybrid 6-DOF Medical Robot, Ind. Robot., 42, 44-53.
• [9] VAN DIJK J.D., VAN DEN ENDE R.P.J., STRAMIGIOLI S., KOCHLING M., HOSS N., 2015, Clinical Pedicle Screw Accuracy and Deviation from Planning in Robot-Guided Spine Surgery: Robot-Guided Pedicle Screw Accuracy, Spine, 40, 986-991.
• [10] MEI B., ZHU W., DONG H., KE Y., 2015, Coordination Error Control for Accurate Positioning in Movable Robotic Drilling, Assembly Autom., 35, 329-340.
• [11] SCHWENKE H., SCHMITT R., JATZKOWSKI P., WARMANN C., 2009, On-the-Fly Calibration of Linear and Rotary Axes of Machine Tools and CMMs Using a Tracking Interferometer, CIRP Ann. Manuf. Technol., 58, 477-480.
• [12] GĄSKA A., KRAWCZYK M., KUPIEC R., OSTROWSKA K., GĄSKA P., SŁADEK J., 2014, Modeling of the Residual Kinematic Errors of Coordinate Measuring Machines Using Laser Tracer System, Int. J. Adv. Manuf. Technol., 73, 497-507.

Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).