Many industrial applications require accurate robots for critical tasks, such as aerospace fabrication and metrology viewing. However, industrial robots generally do not provide high accuracy. The bot's inaccuracies are attributed to several sources of fault. These sources of fault fall into three broad categories: auto-joint faults, kinematic faults, and non-kinematic faults. Automatic joints refer to the articulated and actuated joints of the robot, because some joints are articulated but not actuated, for example in parallel robots, these joints are called passive joints.
We have noticed that automatic joint errors and kinematic errors are the biggest causes of the robot's lack of accuracy. It is conceivable that non-motion faults have a greater impact on the application of high payloads.
1. Joint fault
These errors represent errors related to the displacement values supplied by the encoder of the robot's automatic joints. They represent the difference between the movement stated by the sensor (i.e., the encoder) and the movement practiced by the joint. These differences are primarily caused by errors in the sensor itself and offsets (i.e., errors in the zero or cardinal orientation of the moving joints) caused by the zeroing (or homing) of each moving joint.
2. Kinematic faults
The motion element is related to the common sense of the robot's motion model. A model that does not fully represent the shape of the robot is the root cause of the error. The top causes of kinematic faults are summarized as follows:
1) The difference between the nominal length of the robot connecting rod and the practical length is mainly caused by the production and assembly of public service.
2) A few characteristics of the robot component (e.g., parallelism, orthogonality).
3) Azimuth error of the reference structure: the root reference structure of the robot related to the reference structure of the workpiece (also known as the element structure or world structure), and the east-west reference structure robot related to the flange structure (i.e., the last reference structure).
3. Non-kinematic fault
The non-kinematic elements are attributed to the mechanical properties of the robot components and can be summarized as the following overarching elements:
1) The stiffness of mechanical components, such as the robot's connecting rods and gearbox.
2) Mechanical voids (e.g. gearbox clearances).
3) The effect of temperature on the structure and mechanical components of the robot.
When it comes to industrial applications that require accurate robots to accomplish critical tasks, knowing where to look and how to reduce errors and improve accuracy will undoubtedly improve production results. The use of laser vision sensors to improve measurement accuracy may be one way to eliminate these drawbacks.
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