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Robot Omni-Approach Accuracy/Repeatability Test Apparatus

IP.com Disclosure Number: IPCOM000042737D
Original Publication Date: 1984-Jun-01
Included in the Prior Art Database: 2005-Feb-04
Document File: 2 page(s) / 51K

Publishing Venue

IBM

Related People

Ho-Lung, JA: AUTHOR [+2]

Abstract

This article describes a test apparatus for measuring the accuracy and repeatability of a robot system in a single move. Currently measurements for accuracy and repeatability of some robot systems are made with a fixture with fixed linear variable displacement transducers and a plate with five accurately positioned posts of varying heights. One disadvantage with this fixture is that, in moving from an approach point to a target post, the fixture must first be moved to a point vertically above the post. The design and salient features of a fixture that does not suffer from this inadequacy, permitting the approach to a target post to be made in a single move, is advantageous in that two important parameters, accuracy and repeatability, are measured from a datum point to a target point directly.

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Robot Omni-Approach Accuracy/Repeatability Test Apparatus

This article describes a test apparatus for measuring the accuracy and repeatability of a robot system in a single move. Currently measurements for accuracy and repeatability of some robot systems are made with a fixture with fixed linear variable displacement transducers and a plate with five accurately positioned posts of varying heights. One disadvantage with this fixture is that, in moving from an approach point to a target post, the fixture must first be moved to a point vertically above the post. The design and salient features of a fixture that does not suffer from this inadequacy, permitting the approach to a target post to be made in a single move, is advantageous in that two important parameters, accuracy and repeatability, are measured from a datum point to a target point directly. The construction is shown in the figures. Referring to Fig. 1, a bracket 1 holds air cylinder 2 and pivot arms 3 which are connected to bracket 1 by pivots
4. A sensor 5 is mounted on each pivot arm 3 which is spring loaded to bracket 1 by spring 6 in such a manner that each one snaps into position against a hard stop 7, which is adjustable by a setscrew, prior to taking a measurement. When the air cylinder 2 is contracted, the springs 6 are expanded and the pivot arms 3 are moved to a down position against hard stops 7. The sensors 5 are thereby moved in place around post 8. These sensors measure along the X and Y ax...