Analysis of a Six-Axis Industrial Robot's Dynamic Path Accuracy Based on an Optical Tracker
Although robot calibration has maturational fundamental theories, its practical application is still in the primary phase. In fact, most users are hard to manipulate an industrial robot with high absolute positioning accuracy. Thus, this study intends to measure the dynamic path accuracy of a six-axis industrial robot based on an optical tracker, instead of an expensive laser tracker. The motion tracking approach was based on three robot motions, i.e. linear motion, circular motion, and cornering motion, with a series of varied motion speeds from 100 to 800mm/s. Results show the dynamic path errors (the difference between the presupposed position and the measured position) for linear, circular, and corner motions were 0.662±0.169mm, 1.901±0.109mm, and 17.334±7.572mm, respectively. Obviously, the corner path error was far more than the other two motions. Furthermore, we found that the relationship between path error and the robot motion speed, was not completely linear. The performance assessment aims to provide feedback information for the accurate robot motion control in a specific target workspace. It is therefore of paramount importance for industrial robot users who are interested in precise applications to fully understand the test methods used for assessing robot path precision.
Design and Fabrication of 6-axis Gesture Controlled Robot
In this paper, a six-axis robot which can be controlled by gestures is fabricated. The robot has six degrees of freedom and is easily accessible since the robot does not need higher efforts of controlling. A human hand glove is integrated with transceiver and flex sensors, the resistance variation of the flex sensor is transmitted to the robot axis. Based on the variation the robot can rotate angular or in a linear manner about its axis. A simple transceiver is used in order to control the signals which are sent and received between the robotic arm and the human hand. Arduino programming is used for controlling the system.
Physical Principles of Wind Energy Conversion
The primary component of a wind turbine is the energy converter which transforms the kinetic energy contained in the moving air, into mechanical energy. For the initial discussions of principles, the exact nature of the energy converter is irrelevant. The extraction of mechanical energy from a stream of moving air with the help of a diskshaped, rotating wind energy converter follows its own basic rules.