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Positional Testing of Robots

IP.com Disclosure Number: IPCOM000042204D
Original Publication Date: 1984-May-01
Included in the Prior Art Database: 2005-Feb-03
Document File: 1 page(s) / 12K

Publishing Venue

IBM

Related People

Reis, JW: AUTHOR

Abstract

A means is provided for measuring positional accuracy and repeatability in Cartesian and spatial attitudes of a robot. A fixture is provided which allows practically unlimited combinations of test points either in spatial or Cartesian coordinates for testing the positional accuracy and repeatability of a robot movement. As shown in Fig. 1, the fixture consists of pins 10 which come in a variety of heights and which extend at a variety of angles. These pins are interchangeable in a bushing plate 12 which is disk-shaped, having a center opening 14 and having holes 16 along the periphery thereof. The holes 16 along the periphery are located at specific angular locations with respect to the center of the disk. The number of these holes is determined by the size of the disk and the spacing with respect to one another.

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Positional Testing of Robots

A means is provided for measuring positional accuracy and repeatability in Cartesian and spatial attitudes of a robot. A fixture is provided which allows practically unlimited combinations of test points either in spatial or Cartesian coordinates for testing the positional accuracy and repeatability of a robot movement. As shown in Fig. 1, the fixture consists of pins 10 which come in a variety of heights and which extend at a variety of angles. These pins are interchangeable in a bushing plate 12 which is disk-shaped, having a center opening 14 and having holes 16 along the periphery thereof. The holes 16 along the periphery are located at specific angular locations with respect to the center of the disk. The number of these holes is determined by the size of the disk and the spacing with respect to one another. The fixture is designed such that the bottom rod 18 portion fits into the bushing 20 with a very close fit so that there is no play within the bushing. A spring-loaded detent 22 is utilized in connection with a groove 24 near the bottom end of the rod 12 to lock it in position and provide tension there against to keep it in a fixed position within the bushing. A receptacle portion 26, shown in Fig. 2, is connected to the upper part of the rod which has an angular surface 28 cut thereon with an opening 30 extending down into the middle thereof. This opening 30 is adapted to receive the pin 10. The top surface 28 in the recepta...