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.
A non-contact method for detecting on-line industrial robot position errors using a microwave doppler radar motion detector
To be useful, industrial robots must meet positioning accuracy requirements for their given applications. Off-line calibration generally improves robot positioning accuracy to levels needed for open-loop use in most industrial applications. Applications that require greater accuracy with respect to external assemblies generally turn to closed-loop control or passive compliance. However, industrial robot systems do not generally monitor in-process robot position to detect machine faults that can lead to product faults, scrap, machine damage, and additional costs. To achieve greater operational efficiencies, new non-invasive, noncontact methods for monitoring robot position are needed. The investigators developed a low-cost method for in-process industrial robot position monitoring using a Doppler motion detector and a statistical position error measure. The method detects position errors at robot repeatability levels.
THE PERFORMANCE OF STEADY DETONATION ENGINES
Propulsion systems driven by steady normal detonations are studied. The practical di‐culties associated with stabilizing a detonation wave are highlighted. The requirement on the freestream total enthalpy is considered in parallel with efiects such as condensation or auto-ignition of the fuel-air mixture and limitations associated with fuel sensitivity to detonation. A criterion for detonation stabilization is formulated and applied to an analytical treatment of a detonation ramjet and a detonation turbojet, which are the respective analogs of the ramjet and the turbojet using detonative combustion. The performance of these engines is evaluated and compared to the ideal ramjet and turbojet models for hydrogen and JP10. A limitation is placed on the maximum total temperature allowed in the combustor, based on material considerations. The results show that steady detonation engines have a small thrust-producing range, due to the requirements for detonation stabilization. Their performance is always lower than that of the conventional ramjet and turbojet because of the total pressure loss across the detonation.