This paper aims to solve the nonlinear problem in the uncertainty evaluation of the measurement of the positioning repeatability (RP) of industrial robots and provide guidance to restrict the uncertainty of measurement of RP (uRP).
Firstly, some uncertain sources existing in the measurement procedure of RP are identified. Secondly, the probability distribution function (PDF) of every source is established on the basis of its measurements. Some spatial combined normal distributions are adopted. Then, a method, based on Monte Carlo method (MCM) and established measurement model, is developed for the estimation of uRP. Thirdly, some tests are developed for the identification and validation of the selected PDFs of uncertain sources. Afterwards, the proposed method is applied for the evaluation and validation of the uRP. Finally, influence analyses of some key factors are proposed for the quantification of their relative contributions to uRP.
Results show that the proposed method can reasonably and objectively estimate the uRP of the selected industrial robot, and changes of the industrial robots’ position and the laser trackers measurement are correlated. Additionally, the uRP of the selected industrial robot can be restricted by using the results of its key factors on uRP.
This paper proposes the spatial combined normal distribution to model the uncertainty of the repeatability of the laser tracker and industrial robot. Meanwhile, the proposed method and influence analyses can be used in estimating and restricting the uRP and thus useful in determining whether the RP of a tested industrial robot meets its requirements.
This work was supported by Sichuan Science and Technology Support Program (2017GZ0057), National Science and Technology Major Project (2016ZX04004007) and Programs (K855, K856) in Laboratory of Ultra precision Manufacturing technology CAEP.
Chuangui, Y., Xingbao, L., Xiaobin, Y., Liang, M., Junwen, W., Yangqiu, X., Hailian, Y. and Heng, C. (2019), "Uncertainty analysis and evaluation of measurement of the positioning repeatability for industrial robots", Industrial Robot, Vol. 45 No. 4, pp. 492-504. https://doi.org/10.1108/IR-06-2017-0109
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