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Measuring method of robot joint motion accuracy

A technology of robot joints and measurement methods, applied in manipulators, manufacturing tools, etc., can solve the problem of inability to evaluate robot joint movement accuracy with motion accuracy, and achieve the effect of improving accuracy and test efficiency, improving test efficiency, and improving dynamic response speed.

Active Publication Date: 2022-08-02
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0003] The robot joint is mainly composed of a servo motor and a precision reducer. The traditional test uses the servo motor and the precision reducer as two parts to test separately. Kinematic Accuracy Evaluating the Kinematic Accuracy of Robot Joints

Method used

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  • Measuring method of robot joint motion accuracy
  • Measuring method of robot joint motion accuracy
  • Measuring method of robot joint motion accuracy

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Experimental program
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Embodiment Construction

[0037] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0038] like figure 2 As shown in the figure, the present invention is realized by a measuring device for robot joint motion accuracy, the measuring device includes an angle encoder 2, a torque and rotational speed sensor 3, a load unit and a robot joint 1 to be measured, the robot joint 1, the angle The encoder 2, the torque speed sensor 3, and the load unit are connected in sequence, wherein the load unit includes a servo motor 5 and a speed increaser 4, and the torque speed sensor 3, the speed increaser 4 and the servo motor 5 are connected in sequence, and the speed increaser The device 4 is used to reduce the loading torque of the servo motor 5, and then a low-torque servo motor 5 can be selected to reduce the hardware cost of the measuring device and also reduce the space of the load unit. In this embodiment, the angle encoder 2 selects a HEIDENHAIN hi...

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Abstract

The invention relates to the technical field of robot testing, in particular to a method for measuring robot joint motion accuracy, comprising: step 1, setting basic parameters through a control system; step 2, setting zero-point parameters through the control system; The actual zero point angle value of the robot joint; step 4, repeat step 3 n times to obtain n groups of actual zero point angle values ​​of the robot joint, and calculate the zero point accuracy and zero point repeatability of the robot joint; step 5, on the basis of step 4 robot joints , set the motion parameters through the control system; step 6, trigger the test again to obtain the actual motion angle value of the robot joint; step 7, repeat step 6 n times, calculate and obtain the position accuracy and position repeatability of the robot joint; step 8: the test is completed After that, output the value. The invention can directly test the robot joints, thereby improving the accuracy and testing efficiency of the robot joint motion precision measurement.

Description

technical field [0001] The invention relates to the technical field of robot testing, in particular to a method for measuring the motion accuracy of robot joints. Background technique [0002] Robots are a prominent representative of contemporary high-end intelligent equipment and high-tech, and an important symbol to measure a country's manufacturing level and core competitiveness. The robot joint is the core component of the robot, and its motion accuracy is an important index of the robot joint, which is of great significance for evaluating the performance of the robot joint. [0003] The robot joint is mainly composed of a servo motor and a precision reducer. The traditional test uses the servo motor and the precision reducer as two parts to test separately, but in actual engineering, due to factors such as manufacturing and assembly, it is impossible to rely on the two parts. The motion accuracy of the robot joints is evaluated. SUMMARY OF THE INVENTION [0004] The...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00
CPCB25J19/0095
Inventor 李志海李星吴镇炜董雪松顾岩
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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