??Many machinery manufacturers are now choosing to use industrial-grade robotic arms as their main production method. However, using automated robotic arms in production can greatly improve product production efficiency and product quality, as well as reduce product production costs. In Whether the industrial-grade robotic arm can work accurately in production is actually a three-dimensional space positioning problem, which is a combination of several linear and angular positioning.
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In many simpler cases a single magnitude may be dominant. The factors that affect the positioning error of a single linear or angular quantity are as follows:
1. Positioning methods - Different positioning methods have different influencing factors. For example, when positioning a mechanical stop, the positioning accuracy is related to factors such as the stiffness of the stop and the speed when it touches the stop.
2. Positioning speed - Positioning speed has a great impact on positioning accuracy. This is because when the positioning speed is different, the energy of the moving parts that must be dissipated is different. Generally, in order to reduce positioning errors, the positioning speed should be reasonably controlled, such as improving the buffering performance and buffering efficiency of the buffer device, and controlling the drive system to decelerate the moving parts in a timely manner.
??3． Accuracy - The manufacturing accuracy and installation speed regulation accuracy of the robotic arm have a direct impact on positioning accuracy.
??4． Stiffness - When the structural stiffness and contact stiffness of the manipulator itself are low, it is prone to vibration and the positioning accuracy is generally low.
??5． Weight of moving parts - The weight of moving parts includes the weight of the manipulator itself and the weight of the object being grasped. Changes in the weight of moving parts have a greater impact on positioning accuracy. Generally, as the weight of moving parts increases, positioning accuracy decreases. Therefore, when designing, it is not only necessary to reduce the weight of the moving parts themselves, but also to consider the impact of changes in gripping weight during work.
??6． Driving source - pressure fluctuations of hydraulic and pneumatic pressure and fluctuations in voltage, oil temperature and air temperature will affect the repetitive positioning accuracy of the manipulator. Therefore, necessary measures should be taken to stabilize the voltage and adjust the oil temperature. For example, an accumulator is used to stabilize the oil pressure, a heater or cooler is used to control the oil temperature, and at low speed, a temperature and pressure compensation flow control valve is used for control.
??7． Control system - the position control accuracy of switch control, electro-hydraulic proportional control and servo control is different. This is not only due to the different accuracy and sensitivity of various control components, but also related to the presence or absence of position feedback devices.
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