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    Drive System of Robots

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    FranklinSam
    The document discusses the drive systems and measures of precision in robots. It describes electric drive systems which provide less speed and strength than hydraulic systems but are adopted for smaller robots and offer better accuracy and repeatability. It then defines various measures of precision including control resolution, spatial resolution, accuracy, and repeatability.

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    Drive System of Robots

    Uploaded by

    FranklinSam
    16 views14 pages
    The document discusses the drive systems and measures of precision in robots. It describes electric drive systems which provide less speed and strength than hydraulic systems but are adopted for smaller robots and offer better accuracy and repeatability. It then defines various measures of precision including control resolution, spatial resolution, accuracy, and repeatability.

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    The document discusses the drive systems and measures of precision in robots. It describes electric drive systems which provide less speed and strength than hydraulic systems but are adopted for smaller robots and offer better accuracy and repeatability. It then defines various measures of precision including control resolution, spatial resolution, accuracy, and repeatability.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    16 views14 pages

    Drive System of Robots

    Uploaded by

    FranklinSam
    The document discusses the drive systems and measures of precision in robots. It describes electric drive systems which provide less speed and strength than hydraulic systems but are adopted for smaller robots and offer better accuracy and repeatability. It then defines various measures of precision including control resolution, spatial resolution, accuracy, and repeatability.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    of 14

    Drive System of Robots

    Electric Drives
    • Compared with a hydraulic system,An electric system provides a robot with less speed and strength.
    • Electric drive systems are adopted for smaller robots.
    • Robots supported by electric drive systems are more accurate,exhibit better repeatability
    • Cleaner to use

    • DC stepper motor: Uses discrete voltage pulses to produce required motion (angle) more accurate
    to be used in open loop control system (it does not happen all the time)

    • DC Servo Motor: Incorporated feedback control loop Sensor like optical encoder continuously
    monitors the position
    • Continues and smoother movement

    Applications:
    • General purpose applications
    • Automatic Assembly operations
    Measures of Precision in Robots

    • Control Resolution
    • It is defined as the smallest increment of movement into which the robot can divide its work
    volume.
    • It depends on the system’s control resolution and the robot's mechanical in accuracies.
    • It is the controller's ability to divide the total range of movement for the particular joint into
    individual increments that can be addressed in the controller.
    • The bit storage capacity of the control memory defines this ability to divide the total range into
    increments. Fora particular axis, the number of separate increments is given by

    • Number of increments = 2n where n is the number of bits in the control memo


    Spatial Resolution is the control resolution combined with the mechanical inaccuracy.

    SR= CR + 6σ
    • Accuracy:
    • Accuracy refers to a robot's ability to position its wrist end at a desired target point within the
    work volume, and it is defined in terms of spatial resolution
    • Without considering mechanical errors, accuracy is equal to half of control resolution.
    • By considering mechanical errors, the errors are contained with a standard deviation of 3σ.
    • Accuracy is given by
    CR/2 + 3σ
    CR – Control Resolution in mm
    3σ – Standard Deviation of mechanical errors
    Repeatability:

    • Repeatability is the measure of the ability of the robot to position the tool tip at same position
    repeatedly.
    • There is always some repeatability error associated because of backlash in gears, flexibility of the
    mechanical linkages and drive systems.
    • The repeatability errors are very small in magnitude for well designed robotic manipulators.
    • Repeatability and accuracy refer to two different aspects.
    • Repeatability = ± 3σ
    σ- Standard Deviation of mechanical errors
    Accuracy vs Repeatability
    • A robot that is repeatable may not be very accurate, and visa versa.
    • Let T be the desired target point to where the robot is commanded to move ,
    but due to limitations on its accuracy, the programmed position becomes point P.
    • The distance between points T and P is robot's accuracy.
    • When, the robot wrist is commanded to the programmed point P again , it does not return to
    the exact same position. Instead, it returns to position  R.
    • The difference between P and  R is limitations on the robot's repeatability.

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