THESIS
2015
iii leaves, iv-viii, 59 pages : illustrations (some color) ; 30 cm
Abstract
Industrial Robot sales are at an all-time high with wages offshore rising, robot prices down and
performance up. And manufactures are adopting more automation than ever before. Meanwhile
the automated automation is becoming more and more popular since it can improve the
efficiency and reduce the labor cost. As well known, Industrial Robots have higher repeatability
than accuracy. However, automated automation requires high absolute accuracy rather
than repeatability. Fortunately, Kinematic Calibration can effectively improve the absolute accuracy
of a Robot Manipulator. But most of the measurement systems for Robot Calibration
are extremely expensive and this is a serious problem since seldom Robot System Integrators
can afford the measurement system to calibrate their robots. S...[
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Industrial Robot sales are at an all-time high with wages offshore rising, robot prices down and
performance up. And manufactures are adopting more automation than ever before. Meanwhile
the automated automation is becoming more and more popular since it can improve the
efficiency and reduce the labor cost. As well known, Industrial Robots have higher repeatability
than accuracy. However, automated automation requires high absolute accuracy rather
than repeatability. Fortunately, Kinematic Calibration can effectively improve the absolute accuracy
of a Robot Manipulator. But most of the measurement systems for Robot Calibration
are extremely expensive and this is a serious problem since seldom Robot System Integrators
can afford the measurement system to calibrate their robots. So it becomes a rigid demand for
developing a cost-effective measurement system for robot calibration. In this thesis, we proposed
and developed a wire draw encoder based measurement system which compromises good
accuracy, measurement range, operability and cost. Meanwhile the calibration algorithm based
on Wire Draw Encoder Measurement System using POE Theory with the Adjoint Error Model
was introduced. In order to overcome the draw backs of traditional wire draw encoder measurement
system, we redesigned the structure and added additional sensors for compensation. With
4 generations' development of iteration, this Wire Draw Encoder based performs well under
experiments and tests. Finally, we conducted calibration experiments on a 6-DOF Industrial
Robot RA10L from Kawasaki and a SCARA Robot from QKM to validate the performance of
this cost-effective measurement system.
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