Title : ( Repeatability Analysis of a SCARA Robot with Planetary Gearbox )
Authors: Seyyed Ali Mousavi Mohammadi , Alireza Akbarzadeh Tootoonchi , Morteza Shariatee Sarcheshmeh , Salman Alimardani ,
Full TextAbstract
Repeatability is one of the most important features of an industrial robot. It is a key feature stated by commercial robot manufacturers. Details of repeatability calculation method for industrial robots is presented by ISO 9283. However, the well-known robot manufactures do not state how they calculate their repeatability. In this paper, the industrial FUM SCARA robot, designed by the Ferdowsi University of Mashhad in Iran, is used and its repeatability is measured according to the ISO 9283 method. Planetary reducers are applied as a part of the power transmission system. Although planetary reducers have pre-defined backlash, experimental results show satisfactory repeatability for the FUM SCARA. An ideal and intelligible mathematical model of backlash is developed to show the low effect of backlash in the repeatability calculation. Consequently, it is shown that the result of ideal backlash model corresponds with the experimental result.
Keywords
repeatability; SCARA; industrial robot; backlash; ISO 9283
@inproceedings{paperid:1055095,
author = {Mousavi Mohammadi, Seyyed Ali and Akbarzadeh Tootoonchi, Alireza and Shariatee Sarcheshmeh, Morteza and Alimardani, Salman},
title = {Repeatability Analysis of a SCARA Robot with Planetary Gearbox},
booktitle = {Robotics and Mechatronics (ICROM), 2015 3rd RSI International Conference on},
year = {2015},
location = {تهران, IRAN},
keywords = {repeatability; SCARA; industrial robot; backlash; ISO 9283},
}
%0 Conference Proceedings
%T Repeatability Analysis of a SCARA Robot with Planetary Gearbox
%A Mousavi Mohammadi, Seyyed Ali
%A Akbarzadeh Tootoonchi, Alireza
%A Shariatee Sarcheshmeh, Morteza
%A Alimardani, Salman
%J Robotics and Mechatronics (ICROM), 2015 3rd RSI International Conference on
%D 2015
