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

Gaska A., Harmatys W., Gruza M., Gaska P., Sladek J.

Journal of Machine Engineering

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2018

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Vol. 18, No. 2

54--63

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.

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Virtual coordinate measuring machine built using Laser Tracer system and spherical standard

Sładek J., Gąska A., Olszewska M., Kupiec R., Krawczyk M.

Metrology and Measurement Systems

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2013

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Vol. 20, nr 1

77-86

EN

Improvements of modern manufacturing techniques implies more efficient production but also new challenges for coordinate metrologists. The crucial task here is a coordinate measurement accuracy assessment. It is important because according to technological requirements, measurements are useful only when they are stated with their accuracy. Currently used methods for the measurements accuracy estimation are difficult to implement and time consuming. It is therefore important to implement correct and validated methods that will also be easy to implement. The method presented in this paper is one of them. It is an on-line accuracy estimation method based on the virtual CMM idea. A model is built using a modern LaserTracer system and a common test sphere and its implementation lasts less than one day. Results obtained using the presented method are comparable to results of commonly used uncertainty estimation methods which proves its correct functioning. Its properties predispose it to be widely used both in laboratory and industrial conditions.

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Identification and correction of coordinate measuring machine geometrical errors using lasertracer systems

Gąska A., Gruza M., Gąska P., Karpiuk M., Sładek J.

Advances in Science and Technology. Research Journal

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2013

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Vol. 7, nr 20

17--22

EN

LaserTracer (LT) systems are the most sophisticated and accurate laser tracking devices. They are mainly used for correction of geometrical errors of machine tools and coordinate measuring machines. This process is about four times faster than standard methods based on usage of laser interferometers. The methodology of LaserTracer usage to correction of geometrical errors, including presentation of this system, multilateration method and software that was used are described in details in this paper.