高精度機器手臂與性能測試介紹

Introduction of High Accuracy Robot and Its Performance Testing

杜彥頤 ； 張嘉芳

《機械工業雜誌》 412期 (2017/07) Pp. 18-27

摘要

隨著工業自動化技術的進步，生產製造產業因應市場競爭環境，朝向高生產效率、彈性客製化服務趨勢。因此，發展智慧製造工廠，建置網宇實體系統(cyber-physical system, CPS)的生產模式是未來趨勢。其中，高精度機器手臂將是不可或缺的核心之一。傳統串聯型關節式工業機器手臂雖有良好的定位重現性，但難有良好的定位準確度。為提升手臂精度的發展，將陳述如何邁向手臂高精度的相關程序與介紹國際標準定義的機器人性能測試準則。並展示工研院絕對精度提升成果與應用相關測試技術之機器人測試實驗室。

關鍵字

高精度機器手臂 ； 絕對精度 ； 機器人測試

並列摘要

With the improvement of industrial automation technology, manufacturing industry moves toward high production efficiency and flexible customization service trends in response to highly competitive market. Therefore, the development of intelligent manufacturing plant based on Cyber-Physical System (CPS) is the future trend. Developing a high accuracy robot is one of the indispensable cores. Although the traditional serial type articulated robot has good positioning repeatability, it is still difficult to have good positioning accuracy. In this article, a process to improve the robot accuracy is introduced. The performance testing procedure defined in the international standard is presented. In addition, this article also presents some results of improving absolute accuracy of industrial robots by using ITRI's calibration technology. The performance testing procedure in the Robot Testing Lab is also introduced in this article.

並列關鍵字

High Accuracy Robot ； Absolute Accuracy ； Robot Testing