Industrial Robot Positioning Performance Measured on Inclined and Parallel Planes by Double Ballbar

Renishaw Ballbar QC20–W is primarily intended for diagnostics of CNC machine tools, but it is also used in connection with industrial robots. In the case of standard measurement, when the measuring plane is parallel to the robot base, not all robot joints move. The purpose of the experiments of the...

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Bibliographic Details
Published in:Applied sciences 2021-02, Vol.11 (4), p.1777
Main Authors: Kuric, Ivan, Tlach, Vladimír, Sága, Milan, Císar, Miroslav, Zajačko, Ivan
Format: Article
Language:English
Subjects:
Automation
Ballbars
Hypotheses
industrial robot
Industrial robots
Lasers
Machine tools
measurement
positional analysis
renishaw Ballbar QC20–W
Robot arms
Robot dynamics
Robotics
Robots
Shape effects
Volumetric analysis
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Summary:Renishaw Ballbar QC20–W is primarily intended for diagnostics of CNC machine tools, but it is also used in connection with industrial robots. In the case of standard measurement, when the measuring plane is parallel to the robot base, not all robot joints move. The purpose of the experiments of the present article was to verify the hypothesis of the motion of all the robot joints when the desired circular path is placed on an inclined plane. In the first part of the conducted experiments is established hypothesis is confirmed, through positional analysis on a simulation model of the robot. They are then carried out practical measurements being evaluated the influence of individual robot joints to deform the circular path, shown as a polar graph. As a result, it is found that in the case of the robot used, changing the configuration of the robot arm has the greatest effect on changing the shape of the polar graph.
ISSN:2076-3417
2076-3417
DOI:10.3390/app11041777