Analysis of the main errors and assessment of the accuracy of industrial robots

• Main Author: M.V. Bogdanovskyi
• Format: Article
• Language: English
• Published: Zhytomyr Polytechnic State University 2020-12-01
• Series: Технічна інженерія
• Subjects: industrial robot; manipulation system; precision; error; rtk
• Online Access: http://ten.ztu.edu.ua/article/view/217528/217518
• ISSN: 2706-5847; 2707-9619

The main technical characteristics of industrial robots are considered, notably nominal load capacity, number of degrees of mobility, magnitude and speed of movement by degrees of mobility, working area, working space and service area of industrial robots, positioning error or trajectory processing. The classification division of industrial robots into groups according to their speed and accuracy is analyzed. It is established that as a result of the motion of any mechanical system, including the manipulation system of an industrial robot, there is always a deviation of the real vector of the state of the system from the planned one. As a result, the center of the grip of the industrial robot when performing any technological operations at any time occupies a certain position in the vicinity of the corresponding program-defined coordinate. Considering the question of determining the accuracy of the robot is necessary to analyze the design features and characteristics of the manipulation system, the nature of the load and mode of operation. Thus, it is expedient to consider separate components of accuracy of functioning the robot depending on the factors causing various errors. It is established that the error of positioning, or working off, thea trajectory can be considered both as a whole for a working body (total), and for separate executive mechanisms of industrial robot. The main types of errors of manipulation systems of industrial robots are described and the method of determining their estimation is given.