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Evaluation of the 2-Axis Movement of a 5-Axis Gantry Robot for Welding Applications

机译:用于焊接应用的5轴龙门机器人2轴运动的评价

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The development of technology in fabrication and manufacturing systems is increasing nowadays. The use of robots as mediators to assemble all kinds of product has become a new challenge in this era, and robotic welding technology is now the choice for certain automotive industries to produce their vehicle products. This research will develop an artificial robot welder with a type of gantry robot as a training prototype to gain more in-depth knowledge of industrial robots. The purpose of the paper is to develop an initial welding robot system, focusing on evaluation of the 2-axis movement of X and Y. The robot’s movement will be controlled by a microcontroller, and its level of accuracy and repeatability will be measured a by Faro Arm Portable Coordinate Measuring Machine (PCMM) with an error of around 0.02 mm. This measurement method will consist of five speed characteristics, which make the robot move for a constant distance of 125 mm.  The results show that the best level of accuracy is 0.83%, at 2.5 mm/s of velocity. The X and Y axes produce movement with the best repeatability of 96 ?m and 108 ?m, respectively. Based on the results, the gantry robot displays good performance in repeatability and accuracy, proving it can work effectively.
机译:在制造和制造系统中的技术发展现在正在增加。使用机器人作为调解器组装各种产品已成为本时新挑战,机器人焊接技术现在是某些汽车产业生产其车辆产品的选择。该研究将开发一个具有一种龙门机器人作为培训原型的人工机器人焊机,以获得更深入的工业机器人知识。本文的目的是开发初始焊接机器人系统,专注于评估X和Y的2轴运动。机器人的运动将由微控制器控制,其精度和可重复性水平将被测量Faro Arm便携式坐标测量机(PCMM),误差约为0.02毫米。该测量方法包括五种速度特性,使机器人移动到125mm的恒定距离。结果表明,最佳的精度水平为0.83%,速度为2.5 mm / s。 X和Y轴分别产生具有96Ωm和108Ωm的最佳重复性的运动。基于结果,龙门机器人以可重复性和准确性显示出良好的性能,证明它可以有效地工作。

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