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首页> 外文期刊>Journal of Manufacturing Systems >Experimental Determination of Kinematic Coupling Repeatability in Industrial and Laboratory Conditions
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Experimental Determination of Kinematic Coupling Repeatability in Industrial and Laboratory Conditions

机译：在工业和实验室条件下运动耦合重复性的实验确定

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摘要

While kinematic couplings are frequently used as components of repeatable interfaces in ideal environments, their use in heavily loaded industrial interfaces is less frequent, as previous studies have validated couplings mostly under modest loads and controlled environmental conditions. On the other hand, the performance of heavily loaded industrial equipment, such as robots used in automotive production, could benefit from highly repeatable interfaces for assembly and replacement of modules. A series of tests was conducted to assess the industrial repeatability performance of large kinematic couplings on an ABB 6400R industrial robot. The interfaces for two of the more frequently detached interfaces—the robot base to the factory floor interface and the robot wrist interface—were tested. For both interfaces, replacements for the existing pin joint interfaces were designed using two forms of kinematic couplings—a three-pin coupling and a canoe-ball coupling. During industrial testing, measurements were taken for each coupling form on the base and wrist interfaces. Both laboratory and industrial experiments demonstrated that the installation procedure is almost as important as the form of coupling itself and that properly mounted kinematic couplings can improve the repeatability of machine interfaces by up to 90%. Laboratory measurements provided best-case canoe-ball coupling repeatability on the order of 0.1 μm and three-pin coupling repeatability of 1 μm. In industrial trials, the canoe-ball coupling repeatability was 0.05 mm for the wrist interface and 0.10 mm for the base interface. The three-pin coupling was capable of 0.11 mm repeatability for the base interface, and limited testing for the wrist interface indicates possible 0.08 mm repeatability.
机译：尽管运动型联轴器经常在理想的环境中用作可重复接口的组件，但在重载工业接口中使用运动联轴器的频率却较低，因为先前的研究已经验证了联轴器主要是在中等负载和受控环境条件下进行的。另一方面，重载工业设备（例如汽车生产中使用的机器人）的性能可受益于高度可重复的用于组装和更换模块的接口。进行了一系列测试，以评估ABB 6400R工业机器人上大型运动联轴器的工业可重复性性能。测试了两个更频繁分离的接口的接口（机器人到工厂车间的接口和机器人腕部接口）。对于这两种接口，都使用两种形式的运动学联轴器设计了现有销接头接口的替代产品-三销联轴器和独木舟-球形联轴器。在工业测试期间，对底座和腕部接口上的每种耦合形式进行了测量。实验室和工业实验均表明，安装过程几乎与联轴器本身一样重要，正确安装的运动联轴器可将机器接口的重复性提高多达90％。实验室测量提供了最理想的独木舟-球耦合重复性，大约为0.1μm，三针耦合重复性为1μm。在工业试验中，手腕界面的独木舟-球耦合重复性为0.05毫米，基础界面为0.10毫米。三针耦合器的基本接口可重复性为0.11 mm，腕部接口的有限测试表明可重复性为0.08 mm。

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