The repeatability analysis of industrial robot under loaded conditions and various distances

Abstract

The increasing usage of robots in manufacturing operations is due to its flexibility and its ability to be reprogrammed easily when the old task changes. The main obstacle in the robotics applications is to minimize the positional errors when it is under real working conditions. This implies that robots have to perform accurately under loaded conditions at any location within the working envelope. The aim of this research is to evaluate the performance of industrial robot under payload and various distances within the working envelope. Relationship between the location and payload versus repeatability are to be obtained. The experimental work and statistical analysis was performed in order to achieve the desired objective of the research. The study of linear performance has been carried out and the results show that the FANUC Robot Arc Mate 100i under the study has the linear repeatability of 2.125 mm. The repeatability value obtained was not the same compare to the manufacturer specification due to various factors that cannot be avoided. Statistical analysis shows that the distance from robot center has significantly affects the repeatability performance of the robot.