Robot performance test system

• 详细介绍
• 详细参数

• 详细介绍

  In today’s world of flexible automation, end-users and intermediaries around the globe must be able to rely on the performance of their robots when executing various programs and applications. To this end, Dynalog has developed the CompuGauge Robot Measurement and Performance Analysis System, providing robot manufacturers and their customers with a tool to measure, display, and analyze both the static and dynamic performance of their robots. While maintaining the portability and affordability required by current development processes, the CompuGauge system achieves remarkable positional accuracy.
  Dynalog’s CompuGauge system includes: (1) hardware necessary for acquiring measurement data (static points and complete paths), and (2) software required to record, display, and analyze the acquired measurement data.
  In today’s world of flexible automation, end-users and intermediaries around the globe must be able to rely on the performance of their robots when executing various programs and applications. To this end, Dynalog has developed the CompuGauge Robot Measurement and Performance Analysis System, providing robot manufacturers and their customers with a tool to measure, display, and analyze both the static and dynamic performance of their robots. While maintaining the portability and affordability required by current development processes, the CompuGauge system achieves remarkable positional accuracy.
  Dynalog’s CompuGauge system includes: (1) hardware necessary for acquiring measurement data (static points and complete paths), and (2) software required to record, display, and analyze the acquired measurement data.
  
  
  
  Measurement Hardware
  When the CompuGauge system is fully compatible with various general 3D or 6DOF measurement devices, it generates its own standard measurement hardware. The standard CompuGauge hardware is based on the simplicity of point measurement technology, along with numerous improvements in electronics and mechanics. High-resolution, low-inertia optical encoders are used to frequently measure the extension of the measurement cables; low-mass cables operate with less tension than a dial indicator; a unique measurement attachment mounted on the robot flange allows the robot to move with six degrees of freedom while measuring the X, Y, Z positions with high precision. This high accuracy is based on the redundant information provided by the extension of four calibrated cables.
  Due to its inherently simple design, the standard CompuGauge measurement hardware can be easily set up and be operational within minutes. Additionally, the system does not require the use of a dedicated, standalone, bulky controller. Instead, a compact acquisition unit allows the measurement hardware to connect directly to a standard PC or laptop via the latest USB interface technology. Several digital inputs and outputs are also enabled through the data acquisition device, keeping the acquired measurement data synchronized with any external signals and inputs, for example, spot welding guns or sealant devices.
  Measurement, Observation, and Analysis Software
  The Windows™-based software running the CompuGauge system includes three different modules. They can be used simultaneously or individually.
  Online Measurement. This module allows the operator to manually or mechanically record the robot’s 6DOF static and dynamic positions (x, y, z, and any valid orientation).
  Offline Observation. This module has the ability to visualize and examine the recorded robot positions and paths in various ways.
  Analysis. This module contains a series of tests that can verify accuracy, repeatability, turning, and warm-up drift based on the recorded data. These tests include two internationally recognized standards: ISO 9283 and ANSI/RIA R15.05-1/2.
  The CompuGauge software also provides various tools and functions: the coordinate framework of the CompuGauge system can be easily aligned with the robot base structure. Measured robot paths and points can be zoomed in and out, fully rotated, and transformed into 3D space. Visualization is provided from any angle; curve plotting and data fitting tools are available; the mouse pointer can be placed along different paths to quickly determine discrepancies in time and space.
  Specific Functions:
  1.Pose accuracy and pose repeatability
  2.Multi-direction pose accuracy variation
  3.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.Cornering deviations
  11.Path velocity characteristic (maximum testable 5 m/s)
  12.Minimum posing time
  13.Static compliance
  14.Weaving deviations
  15.Path acceleration characteristic (maximum testable 5G or 50 m/s²)
  16.Curve fit analysis
  17.Vibration frequency measurement
  18.Every axis backlash measurement
  19.6D (X, Y, Z, W, P, R) measurement
  20.Jitter measurement
  21.Warm-up drift measurement
  22.Cycle time measurement
  23.Robot Position (X, Y, Z) vs. Time curve
  24.Software directly generated ISO-9283 test report
  

• 详细参数

  Standard Measurement Hardware
  Performance:
  Resolution: <0.001mm
  Accuracy: <0.010mm + 0.025mm/m
  Measurement space: 500mm x 500mm x 500mm
  Sampling frequency: up to 1000 Hz
  Tracking speed: up to 5,000 mm/sec
  Data capacity: up to 32,000 points/file
  Mechanical Specifications:
  Dimensions: 1130 mm x 105mm x 105 mm
  Weight (per crossbeam): 4.0kg
  Environmental Conditions:
  Temperature: 22 ±3℃
  Notes:
  (1) The CompuGauge system is suitable for 3D and 6DF measurement equipment.
  (2) Optional high-definition encoder provides enhanced performance.
  
  System Requirements
  Hardware: IBM-compatible PC with 4 MB RAM minimum.
  Operating System: Microsoft Windows 95, 98, 2000, NT, XP, or VISTA.
  Interface: USB 1.0 or 2.0.
  
  Measurement and Observation Features
  Real-time graphical display of robot path (including Cartesian coordinates).
  Robot pose measurement (static position).
  Robot path measurement (dynamic position).
  Coordinate system calibration.
  Display and zoom analysis (resolution as small as 0.001mm on screen).
  Display of speed and acceleration along the robot path.
  Data import and export.
  Digital I/O triggers for measurement and response identification.
  Automatic measurement mode (start/stop robot movement).
  Many additional features.
  Performance Analysis Features
  Pose performance analysis (ISO9283 and ANSI/RIA R15.05-1):
  Pose accuracy and repeatability; overshoot and settling time; cycle time; compliance; thermal drift.
  Path performance analysis (ISO9283 and ANSI/RIA R15.05-2):
  Path accuracy and repeatability; speed.
  Simulation of robot-programmed poses and paths.
  Analysis of non-standard characteristics.
  

• 产品特色

  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。

• 详细介绍

  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。