Research on the influence of straightness deviations on positioning precision of Cartesian industrial robots

Abstract

Among the first generations of industrial robots used in various industries were the Cartesian industrial robots. The main advantages of these positioning systems are its flexibility and fast positioning capability. The reduced time of generating and programming of the industrial robots trajectory is a particular advantage of these systems. Over the years, a number of factors have been discovered that affect the positioning precision of Cartesian industrial robots. Presently among these factors that are affecting the positioning precision of a Cartesian industrial robot are the dimensional deviations and the geometrical deviations present in their structures. Among the geometric deviations, affecting the positioning accuracy of a Cartesian industrial robot there is the straightness deviation of the linear kinematic links. Due to the existence of straightness deviations in the linear kinematic links of the Cartesian industrial robot, it is necessary to use methods to minimize the positioning errors of industrial robots within the linear axes. In this article are presented methods of determining the values of rectilinear deviations and utilizing them in an optimized kinematic system. By choosing this method to minimize positioning error by designers in current generations of Cartesian industrial robots and systems using linear kinematic links, both positioning errors and trajectory generation times are diminished, resulting in the economic and technological efficiency of the products and services they offer.