Proposal of Improving Method of Rotational 2-Axis Synchronous Accuracy of Plate Motion Control with a Dual Arm Robot by Estimating Ball Rolling Motion on the Plate

Abstract:

Recently, developers of machining tools have begun paying more and more attention to multi-joint dual-arm robot, and it is expected the robot will reclaim its place in the field of new automation. Industrial dual-arm robots have therefore gained attention as new tools to control both linear motion and rotational motion accurately. On the other hand, the five-axis control machining center controlling the motion of three translation axes and two rotation axes has put into wide practical use. However, a one problem has been that it may be the difficult to measure the synchronic accuracy of rotation two axes without high accuracy gyro sensor. In the present report, we proposed a novel method to measure the synchronic accuracy of rotation two axes of machine tool table with a ball, which keeps a ball rolling around a circular path on the working plate by dual-arm cooperating control. As a result, we investigated an influence of each axis motion error on a ball- rolling path, and demonstrated this method made it feasible to estimate the synchronic accuracy of rotation two axes of machine tool table.

• Periodical: Key Engineering Materials (Volumes 523-524)
• Pages: 889-894
• DOI: https://doi.org/10.4028/www.scientific.net/KEM.523-524.889
• Online since: November 2012
• Authors: Wei Wu, Toshiki Hirogaki, Eiichhi Aoyama
• Keywords: Accuracy, Automation, Cooperating Control, Dual-Arm Robot, Machine Tool, NC, Working Plate

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