Motion And Load Performance Test And Evaluation Of The Heavy Duty Handling Robot

Industrial robots have been increasingly widely applied in automobile assembly manufacturing, metallurgy, transportation and other industries. While the robot manufacturer KUKA, ABB, FANUC and YAKAMA occupied eighty percent of China’s domestic robot market. With the fast occupy of china’s robot market by the robot family, it is high time for china’s industrial robot localization. To improve the percentage of domestic robot market share, we must produce high performance robot. While the method of robot performance evaluation, as its load capacity and the dynamic performance, play a very important role in improve the performance of the domestic robot.Performance evaluation method of robot is mainly composed of the instrument system of the spherical coordinate system based on laser interference test. However, the measurement error of spherical coordinate increase linearly with tested distance. Thus, this paper presents a robot for high precision laser interferometer and Descartes coordinate system based on the tracking measurement system, to meet the demand of high precision measurement of spatial dynamics and non contact of industrial robot. The test system for the robot absolute position accuracy of robot accuracy index, repetitive position accuracy and track movement precision test, to provide support and data base for evaluating and improving the performance of the robot, has high significance to improve the performance of the domestic manufactured robot.In this paper, we firstly introduced the test method of robots, tell the weakness of the work and then give the test method of the system we designed. In the secondly part of the paper, expounds the selection of precision components and system composition of the robot measurement, experiments of the system calibration to get the test system’s accuracy and its performance evaluation. The third part mainly for the performance tests of the tested robots, and the precision index of different types of robots manufactured by two different domestic companies is obtained by means of precision analysis of test results and data processing. With the results before we also obtained the precision value to determine whether it can meet the design precision of the robot to complete the initial value of the reliability assessment. The fourth part we discussed the flexibility of the overload robot and modeling the flexibility deformation of one of the tested robot. At the last, a summary of the whole paper and the future work that shall be continued is presented.