摘要
依据GB/T 12642-2013《工业机器人性能规范及其试验方法》,采用Dynalog公司的CompuGauge测试系统对新时达SA1400工业机器人进行了位置特性的测量。首先验证了试验是在GB/T 12642-2013规定的试验条件下进行,得到试验数据后,依据试验方法和计算方法分析该试验结果误差来源,根据JJF 1059-1999《测量不确定度评定与表示》的方法,不同误差来源会引入不同种类不确定度,分析计算后得到CompuGauge引入的不确定度分量及测量重复性引入的不确定度分量,最终分析得到该试验结果的不确定度。
This paper focuses on the position characteristic test of STEP SA1400 industrial robot based on GB/T 12642‐2013“Industrial robots‐performance criteria and related test methods” by using CompuGauge testing system from Dynalog company .Firstly ensure this testing on the foundation laid by GB/T 12642‐2013 “Manipulating industrial robots‐performance criteria and related test methods” .Analyze the primary error of the test after the test finish and compute all parts of uncertainty of the test course .Finally evaluate the position characteristic uncertainty .
作者
王智源
朱刚
Wang Zhiyuan Zhu Gang(School of Optical-Electrical and Computer Engineering, University of Shanghai for Science and Technology, Shanghai 200093,China Shanghai Electrical Apparatus Research Institute, Shanghai 200063, China)
出处
《电子测量技术》
2016年第9期8-11,共4页
Electronic Measurement Technology
