RESEARCH PAPER
Effect of temperature variation on repeatability positioning of a robot when assembling parts with cylindrical surfaces
1
Department of Manufacturing and Production Engineering Rzeszow University of Technology al. Powstańców Warszawy 8, 35-959 Rzeszów, Polska
2
Department of Materials Forming and Processing Rzeszow University of Technology al. Powstańców Warszawy 8, 35-959 Rzeszów, Polska
Publication date: 2018-12-31
Eksploatacja i Niezawodność – Maintenance and Reliability 2018;20(4):503-513
KEYWORDS
ABSTRACT
In this paper, the effect of the errors induced by temperature changes on the repeatability positioning error of an industrial robot
is analysed. It has been shown that after the stabilization of the thermal conditions, these errors can be identified with the systematic errors. It has also been shown that if the ambient temperature cannot be sufficiently stabilized, the temperature errors can be
described using a normal or uniform probability distribution. Depending on the choice of a point in the robot’s workspace and
temperature fluctuations, these errors can comprise a small share of the total error of the robot. Then the total repeatability positioning error can be approximated with sufficient accuracy by a normal probability distribution or it can comprise the dominant
component of this error. In this case, the total error can be approximated using a flat normal distribution. It has been shown that,
depending on the choice of location in the workspace in which the assembly operation is carried out, it is possible to obtain both
different probabilities of assembling the parts correctly and a different effect of errors caused by slight temperature changes on
the value of those probabilities. The results found indicate the potential possibility of increasing the reliability of the process by
proposing the selection of the location in the robot workspace which has the lowest sensitivity to errors ascribed to changes in
temperature
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