Abstract
The fundamental differences between the kinematics of SCARA-, six-axes- and portal robots as well as tripod and hexapod machines are also reflected in their varying thermal behaviour This paper describes the sequential investigation of the thermal behaviour of industrial robots with a standardized experimental setup It includes a comparison of the results for the different robot types as well as conclusions regarding improvement possibilities in robot design. There are also suggestions for the compensation of errors due to thermal effects and for a correction of the spatial position of the tool center point (TCP)
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