DYNAMIC PROPERTIES TESTING OF GLAZIER'S ROBOT STRUCTURE

摘要

Polish Standards related to industrial robots acceptance are not concerned with the evaluation of their structure vibrations, and in consequence with the dynamic properties influence on accomplished manufacturing processes. The aim of the research described in this paper was to perform the analysis of a glazier's robot structure dynamic properties in the testing laboratory and on the factory floor. The experiments were done at robot rest, in the idle run, and regular operation of a technological cycle. Free vibrations analysis allowed determining robot dynamic characteristics dependence on selected structure configurations and gathering ball weights. An indirect method for evaluation of dynamic characteristics obtained during regular robot operation was applied. The considered robot characteristics were compared with characteristics of a similar robot which is recognized by a user as a "good". The differences demonstrated for both the robots characteristics prompted to perform visual inspection of the analysed robot mechanical part and resulted in repeating of the robot mechanical defects.