上海埃飞科技
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Robot performance test system
Dynalog developed the CompuGauge robot measurement and performance analysis system to provide robot manufacturers and their customers with a tool to measure, display and analyze the static and dynamic performance of their robots. While maintaining the por
In today's world of flexible automation, end users and intermediaries around the world must be able to rely on their robot performance when executing various programs and applications. To this end, Dynalog developed the CompuGauge robot measurement and performance analysis system to provide robot manufacturers and their customers with a tool to measure, display and analyze the static and dynamic performance of their robots. While maintaining the portability and affordability required in the current development process, the CompuGauge system has achieved amazing position accuracy.
Dynalog's CompuGauge system includes:
(1) Hardware necessary for obtaining measurement data (static points and the entire path)
(2) The software necessary for recording, displaying and analyzing the acquired measurement data.
Measurement hardware
When the CompuGauge system is fully compatible with a variety of general 3D or 6DOF measurement equipment, it produces its own standard measurement hardware. The standard CompuGauge hardware is based on measuring point technology. Due to its inherently simple design, the standard CompuGauge measuring hardware can be easily set up and run within a few minutes. In addition, this system does not require the use of a dedicated, independent, bulky controller. On the contrary, a compact storage unit allows the measurement hardware to be directly connected to a standard PC or laptop through the latest USB interface technology. Several digital inputs and outputs are also effective through the data collection device, allowing the acquired measurement data to be synchronized with any external signals and input personnel. For example, spot welding guns or sealant equipment.
Simplicity, along with many improvements in electronics and mechanics. High-resolution, low-inertia optical encoders are used to regularly measure the extension of those measuring cables; low-quality cables run with a smaller tension than a dial gauge; a unique measuring accessory installed on the robot flange The device allows the robot to move with six degrees of freedom when measuring X, Y, and Z positions with high accuracy. This high accuracy is based on the lengthy information provided by the four measured cable extensions.
Measurement, observation and analysis software
The basic Windows software running the CompuGauge system contains three different modules. They can be used simultaneously or individually.
This module allows the operator to manually or mechanically record the robot's 6DF offline observation.
Online measurement
This module has the ability to visually check the recorded robot position and path in a variety of ways.
Static and dynamic positions (x, y, z and any valid positioning).
analyze. This module contains a series of tests that can be used to verify accuracy, repetitive turns, heating drift, etc. on the recorded data. These tests include two internationally recognized standards: ISO9283 and ANSI/RIA R15.05-1/2. CompuGauge software also provides a variety of tools and functions: The coordinate frame of the CompuGauge system can be easily aligned with the robot infrastructure. The measured robot path and points can be reduced and enlarged, and can also be fully rotated and converted into 3D space. Provide visual graphs from any angle; provide curve charts and data fitting tools; mouse pointers can be placed along different paths, so that differences in time and space can be quickly judged.
Main purpose: According to ISO-9283 European robot standard (the most authoritative standard in the robot industry) ANSI/RIA 15.05 American robot standard is equivalent to GB-12642 (Chinese robot standard) to test the performance of robots, so that engineers can There is an accurate, comprehensive and objective understanding of the performance indicators, and a preliminary analysis is made based on the measured results.
Specific functions:
1. Pose accuracy and pose repeatability
2. Multi-direction pose accuracy variation
3. Distance accuracy and distance repeatability (distance accuracy and distance repeatability)
4. Position stabilization time
5. Position overshoot
6. Drift of pose characteristic
7. Exchangeability
8. Path accuracy and path repeatability
9. Path accuracy on reorientation
10. Corner deviations
11. The path velocity characteristic can be tested up to 5m/s
12. The minimum positioning time (minimum posing time)
13. Static compliance
14. Weaving deviations
15. The path acceleration characteristic can test up to 5G (50m/s2)
16. Curve fit analysis
17. Vibration frequency measurement
18. Each axis gear backlash measurement (every axis backlash measurement)
19. 6D (X, Y, Z, W, P, R) attitude test 6D (X, Y, Z, W, P, R) measurement
20, jitter test jitter measurement
21. Warm-up drift measurement
22. Cycle time measurement
23. The curve of any point (X, Y, Z) of the trajectory with time (Robot Position (xyz) vs. Time)
24. Software directly generated ISO-9283 test report (Software directly generated ISO-9283 test report)
因用于机器人各方面应用且与大多数机器人类型兼容,AutoCal系统可以检测出机器人自身构造和工具中心点(TCP)的 突然改变或偏离,并且该系统无需人为干涉就自动地更正这些误差。
AutoCal系统-Dynalog的先进水平校准技术,Dynalog是机器人单元标定技术的世界领导者。它的主流产品DynaCal 系统,被应用于离线的机器人单元校准,并作为最精确的和技术先进的机器人校准程序为许多机器人制造商和终端使用者所接受。AutoCal 系统将已证实的DynaCal校准技术结合到一个在线的全自动系统中,该系统专为程序控制和复原而设计的,价格低廉。
AutoCal系统提供在线的机器人校准方案,旨在快速和自动地保证机械设备的工作性能。因用于机器人各方面应用且与大多数机器人类型兼容,AutoCal系统可以检测出机器人自身构造和工具中心点(TCP)的 突然改变或偏离,并且该系统无需人为干涉就自动地更正这些误差。这意味着不用猜测哪里会出错,不用浪费宝贵时间在机器人程序重复校准上,产品品质无任何损失。
AutoCal系统-Dynalog的先进水平校准技术,Dynalog是机器人单元标定技术的世界领导者。它的主流产品DynaCal 系统,被应用于离线的机器人单元校准,并作为最精确的和技术先进的机器人校准程序为许多机器人制造商和终端使用者所接受。AutoCal 系统将已证实的DynaCal校准技术结合到一个在线的全自动系统中,该系统专为程序控制和复原而设计的,价格低廉。