Characterization and experimental evaluation of gear transmission errors in an industrial robot
Characterization and experimental evaluation of gear transmission errors in an industrial robot
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DOI：
10.1108/ir-07-2012-387
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发表时间：
2013-11
期刊：
影响因子：
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通讯作者：
M. Slamani;I. Bonev
中科院分区：
文献类型：
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作者：
M. Slamani;I. Bonev
目的-本文提出了一种简单的技术，用于评估齿轮传动误差的影响，在六轴工业串联robot，因为这些错误可能会严重影响工业机器人的定位精度。设计/方法/途径-实验程序开发使用激光干涉仪系统测量双向线性位置误差为ABB IRB 1600工业机器人。一个简单的技术，基于快速傅立叶变换（FFT）分析的设计和实施的表征，评估和量化齿轮传动误差。还讨论了结构变形和间隙误差。结果-作者发现影响机器人性能的主要误差来源来自第二和第三关节。他们还发现，偏心误差、结构变形和间隙是影响所研究的工业机器人精度和可重复性的最重要误差来源。测试结果表明，该RO...
Purpose – This paper proposes a simple technique for assessing the effect of gear transmission errors in a six‐axis industrial serial robot, as these errors can vitally affect the industrial robot's positioning accuracy.Design/methodology/approach – The experimental procedure is developed using a laser interferometer system to measure bidirectional linear position errors for an ABB IRB 1600 industrial robot. A simple technique based on fast Fourier transformation (FFT) analysis is devised and implemented for the characterization, evaluation, and quantification of gear transmission errors. Structural deformation and backlash error are also discussed.Findings – The authors found that the major sources of error affecting the performance of the robot come from joints two and three. They also found that eccentricity errors, structural deformations, and backlash are the most important sources of error affecting the accuracy and the repeatability of the industrial robot studied. Additional tests show that the ro...