Functional Evaluation and Performance Improvement of a Gantry IR’s NC Axes

Abstract

The paper presents main results obtained from experimental works performed for functional performances evaluation of a gantry robot, used for ultrasonic flaw detection (NDT Automation standard-duty ULTRA PAC Ultrasonic immersion model). The functional status of the robot has been evaluated by mean of a RENISHAW LASER ML 10 interferometer measuring system, from the point of view of positioning accuracy and repeatability in position as well as geometric errors of each gantry IR's NC axes. The research stages are referring to: individual NC axis functional evaluation (experimental determination of IRs X, Y, and Z axis positioning accuracy and repeatability in position), overall IRs NC axes functional evaluation (identifying of the partially geometric errors induced by inaccurate mounting of IRs joints / links or inappropriate technical solutions adopted for assembling different structural elements / joints of the studied gantry robot), as well as IRs X NC axis functional improvement (X NC axis positioning accuracy optimization) by mean of software errors compensation. The experimental setup included the analyzed gantry robot and the laser calibration system associated with different mountings of the laser measurement optics system (interferometers linear reflectors) for each measurement procedure. The final results and conclusions relieve means to functionally improve both, individual NC axes' as well as overall IRs performances.