Performance Test And Evaluation Of Industrial Robot Based On Laser Tracker

In recent years,with the development and deepening of “Industry 4.0” and “Made in China 2025”plan,the robot industry in China has been well developed,and industrial robots have been widely applied in various fields of intelligent manufacturing.With the growth of the robot service time,the mechanical wear will be more and more serious,which will lead to the decline of the motion performance of the industrial robot,In order to ensure the precision of the robots and increase the service life of the robots,it is of great practical value to test and evaluate performance of industrial robot.At present,the motion performance testing equipment and evaluating software of industrial robot are basically imported,which is expensive,and there is no 14 motion performance testing equipment and evaluation software for industrial robot in China.This paper uses laser tracker as test equipment,14 motion performance testing schemes for industrial robot are studied and developed,and a set of 14 motion performance evaluation software for analysis the data of industrial robot is developed,14 motion performance testing and evaluation of Staubli TX200 industrial robot are carried out.The performance test results were compared with the industrial robot performance testing system of Hexagon using the same Staubli TX200 industrial robot,it turns out that the results of this paper are consistent with Hexagon 's industrial robot performance test system.The main tasks are as follows:(1)14 motion performance test schemes for industrial robots have been formulated.The 6 degrees of freedom industrial robot,based on the national standard GB/T 12642-2013,analyzes the definition and physical meaning of each motion performance,and formulated test schemes for each motion performance based on the laser tracker.(2)The data analysis algorithms for 14 motion performance tests of industrial robots are studied.And written by MATLAB,the linear interpolation and least square method are introduced to analyze and process the test data,and the algorithm architecture is accomplished.(3)The performance evaluation software is developed.In the GUI development environment under the MATLAB platform,the performance evaluation software is developed and debugged,and the functions of data loading,performance evaluation,drawing of data processing and report printing is implemented.(4)Performance testing and evaluation experiments were carried out.The 14 motion performance of Staubli TX200 industrial robot were tested by laser tracker,and each motion performance was evaluated.The results were compared with the test results of industrial robot performance test system of Hexagon,it shows that the results are consistent,which proves the correctness of the performance test schemes and the performance evaluation software was carried out,performance evaluation software is stable and reliable operation.