5. Evaluation of dynamics and positioning accuracy of robotic system operating in heavy loaded high speed conditions

M. Štrimaitis1, R. Urbanavičius2, A. Kilikevičius3, M. Jurevičius4, V. Striška5, A. Trumpa6

Vilnius Gediminas Technical University, Department of Machine Building,
J. Basanavičiaus str. 28, LT-03224 Vilnius, Lithuania

1Corresponding author

E-mail: 1strimaitism@yahoo.com, 2robertas.urbanavicius@vgtu.lt, 3akilikevicius@gmail.com, 4mindaugas.jurevicius@vgtu.lt, 5vytautas.striska@vgtu.lt, 6atrumpa@gmail.com

(Received 27 February 2012; accepted 4 March 2013)

Abstract. In this article the dynamics and positioning accuracy of “MOTOMAN SSF2000” robotic system which is operating in heavy loaded high speed conditions was researched. To explore the dynamics of “MOTOMAN SFF2000” was used mobile processing equipment of „Brüel & Kjær”. Mechanical vibrations were tested at two different locations of the robot. One of the accelerometers was placed on the robot's base and the other one was placed on the robot's hand. Accelerometers registered the vibrations in three different axes with three different weigths. The mechanical vibrations and positioning accuracy were explored moving robot‘s hand in a linear direction.

Keywords: dynamic characteristic, positioning accuracy, load, robotic system, manipulator.

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Cite this article

Štrimaitis M., Urbanavičius R., Kilikevičius A., Jurevičius M., Striška V., Trumpa A. Evaluation of dynamics and positioning accuracy of robotic system operating in heavy loaded high speed conditions. Journal of Measurements in Engineering, Vol. 1, Issue 1, 2013, p. 28‑34.

 

Journal of Measurements in Engineering. March 2013, Volume 1, Issue 1
© Vibroengineering. ISSN Print 2335-2124, ISSN Online 2424-4635, Kaunas, Lithuania