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Study and Experiment on Positioning Error of SCARA Robot Caused by Joint Clearance

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Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10463))

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Abstract

Joint clearance is a main cause of generating positioning error in industry robot and the low repeatability and uncertainty make it difficult to compensate. This paper mainly focus on SCARA robot and study the effect of revolute joint clearance in positioning accuracy. First, the positioning error model in XOY plane related to joint clearance is set up and analysis to obtain the extreme error value is made. Then a combined idea to study the joint clearance is presented. From this way, the seemingly random clearance error vector can be predicted by some rough deciding factors. Therefore, if the distribution pattern of clearance vector and the rough decided value are obtained, a compensation is possible. Finally, the Ball-Bar was applied to carry out experiment for invalidation and further correction. From the experiment, some patterns are obtained and show that the clearance is indeed rough decided by some factors.

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Acknowledgement

This work was financially supported by the National Natural Science Foundation of China (No. 51375065), Liaoning Province STI major projects (No. 2015106007), and the National Science and Technology Major Project (No. 2013ZX04003041-6).

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Authors and Affiliations

  1. Dalian University of Technology, Dalian, 116024, China

    Changyu Xu, Huimin Dong, Shangkun Xu & Yu Wu

  2. Dalian Yunming Automation Technology Company, Dalian, 116000, China

    Chenggang Wang

Authors
  1. Changyu Xu
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  2. Huimin Dong
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  3. Shangkun Xu
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  4. Yu Wu
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  5. Chenggang Wang
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Corresponding author

Correspondence to Huimin Dong .

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Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

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Xu, C., Dong, H., Xu, S., Wu, Y., Wang, C. (2017). Study and Experiment on Positioning Error of SCARA Robot Caused by Joint Clearance. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_14

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  • DOI: https://doi.org/10.1007/978-3-319-65292-4_14

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65291-7

  • Online ISBN: 978-3-319-65292-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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