Abstract
In order to verify the reliability of drive components for industrial robots, component-level life tests must be accompanied by a system-level life test using actual robots in which predefined robot motions are repeated throughout the test. To properly verify the durability of drive components through a system-level life test, it is important to design test modes so that the required test time is the same for all joint drive components of the robot, and it is necessary to design test modes with a high acceleration factor so as to shorten the required test time as much as possible. To solve this problem, the present research proposes a method for designing robot motions that makes the accelerated life test time for all the drive components of the robot equal. In particular, we solve a dynamic based motion optimization problem for an industrial 6-DoF (degrees-of-freedom) robot that minimizes the AM-GM (arithmetic mean to geometric mean) ratio of the acceleration factors of each joint. The results show that C2-continuous test modes with the same acceleration factor, which is inversely proportional to the cycle time of the robot motion, can be derived.
Highlights
Industrial 6-DoF robots are widely used for the automation of various manufacturing processes, such as welding, assembly, painting, inspection, etc
High-precision drive components occupy the highest proportion in the manufacturing cost of robots, and it is essential to ensure stable performance and reliability because they can cause downtime and accidents of the automated process in the event of a failure
Motivated by the above observation, the goal of this study is to develop a numerical method for designing robot motions for system-level life test of drive components of robot
Summary
Industrial 6-DoF (degrees-of-freedom) robots are widely used for the automation of various manufacturing processes, such as welding, assembly, painting, inspection, etc. One of the ideas to verify the durable life of a robot drive component through system-level accelerated life testing is to design a test mode with the same zero failure test time for all the joint drive components. It was possible to design robot motions which have the following useful properties for system-level life test: equal test time for the drive components of all joints of a robot, smooth joint displacement so that the required joint torque is continuous, and high acceleration factor to shorten the required test time. It was attempted to design robot motions for the accelerated life test of Studies on the reliability and lifetime of precision gearboxes used in robots are presented in drive components at system level by applying a robot motion optimization technique.
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