Analysis of Automatic Teaching Position Error to Optimize OLP (Off Line Programming) for Grinding/Lapping Robot System Using Laser Tracker

摘要

Grinding/lapping process is the final process for mold manufacturing, and is the criteria to check the quality of molds. However, this process depends on manual operation due to its work characteristics, and becomes the bottleneck process in the whole mold manufacturing process. To reduce mold manufacturing lead time, and to improve its productivity, multi joint robot system is implemented to automate grinding/lapping process. Total 8-axis redundancy grinding/ lapping robot system is developed as automation system which consists of 6-axis multi joint robot, 1-axis straight line carriage, 1-axis index table for walk rotation. Especially, we developed simulator which enables virtual drive simulation using OLP (Off Ling Programming) by importing 3D mold design data. In this study, we analyzed position error by measuring drive position command value and actual site robot driven automatic teaching using laser tracker, to optimize OLP simulation's operation program for grinding/lapping robot system. Based on this error analysis data, it will be able to compensate position for 3D walk model in virtual environment.