Summary
The positioning repeatability of modern robot can be in the order of +/− 0.02mm. With arm lengths of one metre or more, the error introduced by thermal expansion can be greater than this so that there is a drift in positioning as the robot structure warms up due to mechanical and electrical energy dissipation. The paper describes the logging of the position of the end effector of a robot with six degrees of freedom over eight hour periods, and the improvement in an already good performance, obtained by using thermostatically controlled heaters attached to the arm and a gear box.
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Notes
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© 1988 Department of Mechanical Engineering University of Manchester Institute of Science and Technology
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Mohammadion, A., Larsson, C.N. (1988). Use of Local Temperature Control to Improve the Positioning Repeatability of An Industrial Robot. In: Davies, B.J. (eds) Proceedings of the Twenty-Seventh International Matador Conference. Palgrave, London. https://doi.org/10.1007/978-1-349-09912-2_6
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DOI: https://doi.org/10.1007/978-1-349-09912-2_6
Publisher Name: Palgrave, London
Print ISBN: 978-1-349-09914-6
Online ISBN: 978-1-349-09912-2
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