The production of high-end equipment shows the concave and convex of a country's comprehensive national strength. At present, China is vigorously developing a series of major projects such as high-speed rail technology, large aircraft projects, nuclear energy projects, aerospace projects, etc., and has made remarkable achievements. These projects all have the same characteristics, that is, high relative precision requirements, complex structure, large scale, therefore, the production of their workpieces are very high. Traditional stationary manufacturing methods are difficult to meet these requirements.
Because of its advantages of large working space, good accessibility of motion space, sensitive operation and control, and small scale, KUKA robots are now more and more widely used in processing and production to form a flexible production system. However, the positioning accuracy of the robot, especially its positioning accuracy, is low, so its application in the field of high-precision processing is limited. This paper illustrates the method of improving the positioning accuracy of the robot, builds an online compensation system for the robot, and compensates the error online in combination with the corresponding algorithm, so as to improve the positioning accuracy of the robot in the processing process.
The relevant knowledge of the six-axis tandem robot was analyzed, including the structure of the robot, the operation mode of the robot, the acting coordinate system of the KUKA robot, etc., the KUKA KR5 arc robot was established, the D-H model of the robot was established, the error of the robot was analyzed, and the KUKA KR5 arc robot was calibrated according to the model. The relationship between the force of the robot and the deformation of the robot was analyzed, and the stiffness matrix of the robot and the stiffness matrix of the robot were measured to obtain the stiffness matrix of the robot, and the method of compensation was studied by measuring the force of the robot, combined with the measurement error of the robot stiffness matrix, and the usefulness of the method was verified by the planning test system.
The online compensation system of robot force is built, and the robot compensation algorithm based on proportional-integral-derivative (PID) is proposed. This system can effectively improve the positioning accuracy of the robot under force.
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KUKA Industrial Robot Fault Diagnosis and Maintenance Method
Don't panic when there is a problem with the robot during the operation, if the problem is not caused by the controller, then the cause of the problem must be the damage to the machine parts. In order to deal with the problem as quickly as possible and in the simplest possible way, the problem should be analysed. And the need to find out which part is the lead ...
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KUKA robot motor knowledge
1. The current of the single-phase transformer at no load is different from the main magnetic flux, and there is a phase parity aFe, due to the presence of iron current. The no-load current is a spire waveform due to the large third harmonic in it.
2. The flow in the armature winding of the DC motor is also the communication current. But its ...
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Introduction to tool payload data – KUKA robots
In industrial robots, what is stuff load data?
Stuff load data refers to the load of everything that is mounted on the flange of the robot. It is additionally mounted on the robot and moved by the robot along with the mass.
Need to lose ...
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How mobile robots are classified – KUKA robots
1. According to the mode of movement, it can be divided into: wheeled mobile robots, walking mobile robots (single-legged, double-legged and multi-legged), crawler mobile robots, creeping robots, peristaltic robots and swimming robots;
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Zero-point failure analysis of KUKA robots
1. Reasons for zero point failure:
Before analyzing the cause of zero-point failure, let's first clarify a problem.
For a long time, we have been calling this fault "zero point drop", which is an inaccurate depiction. The zero point parameter of the KUKA robot will not be "lost", it is remembered ...
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Coordinate conversion criteria for KUKA robots
Those who have used KUKA robots should know that to indicate the orientation of a robot's Cartesian coordinate system, FRAME/POS/E3POS/E6POS data will be used, where:
-X/Y/Z: indicates the rectilinear coordinates of the Cartesian coordinate system;
-A/B/C: indicates Cartesian coordinates ...
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Key components of industrial robots - KUKA robots
To carry out industrial robots, we should focus on creating six iconic products, five key components, and four basic capabilities. In this issue, Zhongfa Intelligent Manufacturing introduces five key components - high-precision reducer, high-performance robot special servo motor and drive, high-speed and high-performance controller, and transmission.
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Installation position of the KUKA robot battery
At present, the battery of the KUKA robot has two device orientations, one on the cabinet door and the other under the cooling channel, and the battery is connected to the plug X305 on the control cabinet and maintained by fuse F305. The battery plug X305 has been unplugged from the CCU when the control system leaves the factory.
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The KUKA controller KR C5 accelerates the cycle time of automated production
The KUKA controller KR C5 offers even more possibilities and cost-effectiveness in robotics applications
Compact, high-quality, energy-efficient: KUKA has been tested with the new controller KR C5 for KUKA industrial robots and the corresponding small robot controller.
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Areas where KUKA robots can be used
KUKA robots can be used for material handling, processing, stacking, spot welding, and arc welding in occupations such as automation, metalworking, food, and plastics. Users of KUKA industrial robots include: General Motors, Chrysler, Ford, Porsche, BMW, Audi, Run, Volkswagen...
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Quadrilateral programming for KUKA robot programming
In the KUKA robot quadrilateral program, an accounting reference point is set, and other points of the quadrilateral are calculated with the reference point, and then the robot TCP is used to take a quadrilateral trajectory using the movement command. This program is for reference only, basic programming program.
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KUKA robot control cabinet fault analysis and solutions
One: The switch jumps often and may not be able to close?
1. Aging of switches
2. The switch selection is incorrect
3. The pump is stuck or the motor is short-circuited
4. The line is aging, short circuit, and the line is too small or lacks phase.
Solution:
Turn off the power of the control system...
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Interference intervals for KUKA robot programming
Robots at the same station, in the process of operation, need to enter the same area, but there is no strict restriction on the order of entry, a robot (Master) has the right of priority, that is, the robot first enters the dry and area, and another robot (Slave) after the operation is completed...
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KUKA robot start-up check
Step 1: View the environment
1. Recognize the ambient temperature: The ambient temperature of the KUKA control cabinet is required to be between 5°C-45°C, the working environment temperature of the robot body is 10°C-55°C, and the working temperature of some new models is 0°C-55°C (see the robot skills manual for details).
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Precautions for the maintenance of the KUKA KR 210 R2700-2
1. Power supply in front of the device
The high rate of defects in the power supply during the programming of the KUKA robot is the entire faulty device, so it is easy to overhaul the power supply first
Multiplier.
2. First the general and then the special
Faults caused by the quality of assemblies or other equipment faults are common.
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Industrial robots have requirements for joint drive motors
1) Rapidity. The time from obtaining the command signal to the completion of the required working state of the motor should be short. The shorter the time to respond to the command signal, the higher the sensitivity of the electric servo system, and the better the fast response function.
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The manual movement of industrial robots – KUKA robots
The manual movement method of industrial robots is mainly divided into four control methods: point control method, continuous track control method, force (torque) control method and intelligent control method.
1. Point Control Method (PTP)
This manipulation ...
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The future KUKA operating system will usher in a new era of robotics
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KUKA robot KSS drive module upgrade operation
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Introduction to KUKA Robot Load Testing
What is tool load data?
Tool load data refers to all the loads mounted on the robot flange. It is the mass that is additionally mounted on the robot and moved by the robot with it, and the values that need to be entered are mass, the center of gravity (the point at which the mass is affected by gravity.), the moment of inertia of the mass, and ...
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