A Design of End Effector for Measuring Robot Orientation Accuracy and Repeatability

被引：3
|
作者：
Zhang Xiaoping [1 ,2 ]
Yan Wanchun [2 ]
Zhu Wei [2 ]
Wen Tao [2 ]
机构：
[1] Huazhong Univ Sci & Technol, State Key Lab Digital Mfg Equipment & Technol, Wuhan 430074, Peoples R China
[2] Ind Robot Res Ctr Co Ltd, ] Kunsan 215347, Peoples R China
来源：
APPLIED MECHANICS AND CIVIL ENGINEERING | 2012年 / 137卷
关键词：
End Effector; Robot; Orientation Accuracy; Orientation Repeatablity; Euler Angle;
D O I：
10.4028/www.scientific.net/AMM.137.382
中图分类号：
TU [建筑科学];
学科分类号：
0813 ;
摘要：
This paper represents the design of a robot end effector which is supposed to be a tool of measuring the orientation accuracy and repeatability. The motivations and ideas of this testing tool are stated, firstly. Then, its structure parameters are specified and the testing accuracy is computed by mean of analyzing the manufacturing errors and structure stiffness which are measured and simulated by Carl Zeiss CMM and Abaqus, respectively. Moreover, the orientation accuracy and repeatability of Kunshan No.1 and KUKA L16 are tested in terms of ISO 9283 standard using this testing tool and API Tracker3. Finally, the results are analyzed and compared which show that the design of this testing end effector is competent with a high cost-effective ratio.
引用
收藏
页码：382 / +
页数：2
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