工业机器人位置稳定时间不确定度的研究分析  

Research and analysis on uncertainty of position stabilization time of industrial robot

作　　者：张昌尧 吴清锋 张秋怡 刘仲义 Zhang Changyao;Wu Qingfeng;Zhang Qiuyi;Liu Zhongyi(Guangdong Testing Institute of Product Quality Supervision,Foshan 528300,China;Key Laboratory of Safety of Intelligent Robots for State Market Regulation,Guangzhou 510670,China)

机构地区：[1]广东产品质量监督检验研究院,佛山528300 [2]国家市场监管重点实验室(智能机器人安全),广州510670

出　　处：《电子测量技术》2023年第8期148-153,共6页Electronic Measurement Technology

摘　　要：针对工业机器人位置稳定时间的精度问题,企业和检测机构不断研究改进检测方法。通过激光跟踪仪和CompuGauge的对比实验,搭建不确定度测量模型,采用A、B类方法对测量重复性、数字分辨率、示值误差和坐标对齐进行分析并评定不确定度分量,得出激光跟踪仪和CompuGauge的扩展不确定度分别为U1≈0.11 s和U2≈0.19 s,最终|En|≈0.5。实验结果表明:激光跟踪仪的结果较集中、稳定,精度更高,但受坐标对齐的影响最大,而CompuGauge操作方便、省时,不依赖于机器人模型,但受示值误差的影响最大。In view of the accuracy of the position stabilization time of industrial robots,enterprises and inspection institutions have been constantly studying and improving the detection methods.Through the comparative experiment of the laser tracker and the cable CompuGauge,the uncertainty measurement model is built,and the measurement repeatability,digital resolution,indication error and coordinate alignment are analyzed and evaluated using Class A and B methods.The expanded uncertainty of the laser tracker and CompuGauge are U1≈0.11sand U2≈0.19s respectively,and finally|En|≈0.5.The experimental results show that the results of the laser tracker are more concentrated,stable,and more accurate,but are most affected by coordinate alignment,while CompuGauge is easy to operate,time-saving,independent of the robot model,but most affected by indication error.

关 键 词：激光跟踪仪 CompuGauge 位置稳定时间 扩展不确定度 |En| 

分 类 号：TH115[机械工程—机械设计及理论] TP242.2[自动化与计算机技术—检测技术与自动化装置]