In order to find the test cube for industrial robots as specified by ISO 9283, a seed cube is grown up in an irregular working space of the robot, provided that the corners of the cube do not exceed the boundary of t...In order to find the test cube for industrial robots as specified by ISO 9283, a seed cube is grown up in an irregular working space of the robot, provided that the corners of the cube do not exceed the boundary of the working space. All possible cubes are searched, and the cube with the maximum volume is selected. The calculation examples show that the method of growth can be used for a variety of industrial robots. The method of growth can determine the test cube and test points of irregular working space according to ISO 9283, and can avoid blindness and randomness in the selection of test points.展开更多
Among the advantages of using industrial robots for machining applications instead of machine tools are flexibility, cost effectiveness, and versatility. Due to the kinematics of the articulated robot, the system beha...Among the advantages of using industrial robots for machining applications instead of machine tools are flexibility, cost effectiveness, and versatility. Due to the kinematics of the articulated robot, the system behaviour is quite different compared with machine tools. Two major questions arise in implementing robots in machining tasks: one is the robot’s stiffness, and the second is the achievable machined part accuracy, which varies mainly due to the huge variety of robot models. This paper proposes error prediction model in the application of industrial robot for machining tasks, based on stiffness and accuracy limits. The research work includes experimental and theoretical parts. Advanced machining and inspection tools were applied, as well as a theoretical model of the robot structure and stiffness based on the form-shaping function approach. The robot machining performances, from the workpiece accuracy point of view were predicted.展开更多
文摘In order to find the test cube for industrial robots as specified by ISO 9283, a seed cube is grown up in an irregular working space of the robot, provided that the corners of the cube do not exceed the boundary of the working space. All possible cubes are searched, and the cube with the maximum volume is selected. The calculation examples show that the method of growth can be used for a variety of industrial robots. The method of growth can determine the test cube and test points of irregular working space according to ISO 9283, and can avoid blindness and randomness in the selection of test points.
文摘Among the advantages of using industrial robots for machining applications instead of machine tools are flexibility, cost effectiveness, and versatility. Due to the kinematics of the articulated robot, the system behaviour is quite different compared with machine tools. Two major questions arise in implementing robots in machining tasks: one is the robot’s stiffness, and the second is the achievable machined part accuracy, which varies mainly due to the huge variety of robot models. This paper proposes error prediction model in the application of industrial robot for machining tasks, based on stiffness and accuracy limits. The research work includes experimental and theoretical parts. Advanced machining and inspection tools were applied, as well as a theoretical model of the robot structure and stiffness based on the form-shaping function approach. The robot machining performances, from the workpiece accuracy point of view were predicted.
