PODSTAWY ROBOTYKI
Nazwa ćwiczenia:
Badanie wybranych parametrów funkcjonalnych robotów przemysłowych.
Prowadzący:
Dr inż. Marta Góra
| LABORATORIUM Z PODSTAW ROBOTYKI |
|---|
| Temat: Badanie wybranych parametrów funkcjonalnych robotów przemysłowych |
| Zespół |
| 1)Mateusz Sito |
| 2)Tomasz Siwek |
| 3)Mateusz Żołądkiewicz |
Kraków, 2012/2013
3. Wyznaczenie powtarzalności pozycjonowania manipulatora
d) Wykonanie pomiaru i analiza wyników
| Nr pomiaru | L1[V] | L2[V] | L3[V] | L1[mm] | L2[mm] | L3[mm] | najazd |
|---|---|---|---|---|---|---|---|
| 1 | 4,659 | 5,623 | 4,232 | 465,9 | 562,3 | 423,2 | x+ |
| 2 | 4,66 | 5,623 | 4,233 | 466 | 562,3 | 423,3 | x+ |
| 3 | 4,659 | 5,623 | 4,232 | 465,9 | 562,3 | 423,2 | x+ |
| 4 | 4,66 | 5,623 | 4,233 | 466 | 562,3 | 423,3 | x+ |
| 5 | 4,66 | 5,623 | 4,233 | 466 | 562,3 | 423,3 | x+ |
| 6 | 4,661 | 5,624 | 4,233 | 466,1 | 562,4 | 423,3 | x+ |
| 7 | 4,66 | 5,624 | 4,233 | 466 | 562,4 | 423,3 | x+ |
| 8 | 4,66 | 5,623 | 4,232 | 466 | 562,3 | 423,2 | x+ |
| 9 | 4,66 | 5,624 | 4,232 | 466 | 562,4 | 423,2 | x+ |
| 10 | 4,661 | 5,624 | 4,232 | 466,1 | 562,4 | 423,2 | x+ |
| 11 | 4,653 | 5,62 | 4,238 | 465,3 | 562 | 423,8 | x- |
| 12 | 4,653 | 5,62 | 4,239 | 465,3 | 562 | 423,9 | x- |
| 13 | 4,653 | 5,62 | 4,238 | 465,3 | 562 | 423,8 | x- |
| 14 | 4,653 | 5,62 | 4,239 | 465,3 | 562 | 423,9 | x- |
| 15 | 4,653 | 5,62 | 4,238 | 465,3 | 562 | 423,8 | x- |
| 16 | 4,653 | 5,62 | 4,238 | 465,3 | 562 | 423,8 | x- |
| 17 | 4,653 | 5,62 | 4,239 | 465,3 | 562 | 423,9 | x- |
| 18 | 4,652 | 5,62 | 4,239 | 465,2 | 562 | 423,9 | x- |
| 19 | 4,653 | 5,62 | 4,239 | 465,3 | 562 | 423,9 | x- |
| 20 | 4,653 | 5,62 | 4,239 | 465,3 | 562 | 423,9 | x- |
| 21 | 4,657 | 5,623 | 4,239 | 465,7 | 562,3 | 423,9 | y+ |
| 22 | 4,657 | 5,624 | 4,239 | 465,7 | 562,4 | 423,9 | y+ |
| 23 | 4,658 | 5,623 | 4,238 | 465,8 | 562,3 | 423,8 | y+ |
| 24 | 4,657 | 5,624 | 4,239 | 465,7 | 562,4 | 423,9 | y+ |
| 25 | 4,657 | 5,624 | 4,239 | 465,7 | 562,4 | 423,9 | y+ |
| 26 | 4,657 | 5,624 | 4,238 | 465,7 | 562,4 | 423,8 | y+ |
| 27 | 4,657 | 5,623 | 4,238 | 465,7 | 562,3 | 423,8 | y+ |
| 28 | 4,658 | 5,624 | 4,238 | 465,8 | 562,4 | 423,8 | y+ |
| 29 | 4,658 | 5,623 | 4,238 | 465,8 | 562,3 | 423,8 | y+ |
| 30 | 4,657 | 5,623 | 4,239 | 465,7 | 562,3 | 423,9 | y+ |
| 31 | 4,66 | 5,624 | 4,237 | 466 | 562,4 | 423,7 | y- |
| 32 | 4,661 | 5,625 | 4,237 | 466,1 | 562,5 | 423,7 | y- |
| 33 | 4,661 | 5,623 | 4,237 | 466,1 | 562,3 | 423,7 | y- |
| 34 | 4,661 | 5,624 | 4,237 | 466,1 | 562,4 | 423,7 | y- |
| 35 | 4,661 | 5,624 | 4,237 | 466,1 | 562,4 | 423,7 | y- |
| 36 | 4,661 | 5,625 | 4,237 | 466,1 | 562,4 | 423,7 | y- |
| 37 | 4,661 | 5,624 | 4,237 | 466,1 | 562,4 | 423,7 | y- |
| 38 | 4,66 | 5,624 | 4,237 | 466 | 562,4 | 423,7 | y- |
| 39 | 4,661 | 5,624 | 4,237 | 466,1 | 562,4 | 423,7 | y- |
| 40 | 4,661 | 5,624 | 4,236 | 466,1 | 562,4 | 423,6 | y- |
| 41 | 4,661 | 5,623 | 4,237 | 466,1 | 562,3 | 423,7 | z+ |
| 42 | 4,661 | 5,623 | 4,237 | 466,1 | 562,3 | 423,7 | z+ |
| 43 | 4,661 | 5,624 | 4,237 | 466,1 | 562,4 | 423,7 | z+ |
| 44 | 4,661 | 5,624 | 4,237 | 466,1 | 562,4 | 423,7 | z+ |
| 45 | 4,661 | 5,623 | 4,237 | 466,1 | 562,3 | 423,7 | z+ |
| 46 | 4,661 | 5,622 | 4,237 | 466,1 | 562,2 | 423,7 | z+ |
| 47 | 4,661 | 5,624 | 4,237 | 466,1 | 562,4 | 423,7 | z+ |
| 48 | 4,661 | 5,623 | 4,237 | 466,1 | 562,3 | 423,7 | z+ |
| 49 | 4,661 | 5,623 | 4,237 | 466,1 | 562,3 | 423,7 | z+ |
| 50 | 4,661 | 5,624 | 4,236 | 466,1 | 562,4 | 423,6 | z+ |
| 51 | 4,656 | 5,617 | 4,233 | 465,6 | 561,7 | 423,3 | z- |
| 52 | 4,656 | 5,616 | 4,233 | 465,6 | 561,6 | 423,3 | z- |
| 53 | 4,656 | 5,615 | 4,233 | 465,6 | 561,5 | 423,3 | z- |
| 54 | 4,657 | 5,616 | 4,232 | 465,7 | 561,6 | 423,2 | z- |
| 55 | 4,656 | 5,615 | 4,232 | 465,6 | 561,5 | 423,2 | z- |
| 56 | 4,656 | 5,615 | 4,233 | 465,6 | 561,5 | 423,3 | z- |
| 57 | 4,656 | 5,615 | 4,233 | 465,6 | 561,5 | 423,3 | z- |
| 58 | 4,656 | 5,615 | 4,232 | 465,6 | 561,5 | 423,2 | z- |
| 59 | 4,657 | 5,615 | 4,232 | 465,7 | 561,5 | 423,2 | z- |
| 60 | 4,657 | 5,616 | 4,232 | 465,7 | 561,6 | 423,2 | z- |
| i | Xp | Yp | Zp |
|---|---|---|---|
| 1 | 370,7475 | 322,075 | 273,8527 |
| 2 | 370,639 | 321,9555 | 274,1399 |
| 3 | 370,7475 | 322,075 | 273,8527 |
| 4 | 370,639 | 321,9555 | 274,1399 |
| 5 | 370,639 | 321,9555 | 274,1399 |
| 6 | 370,7832 | 321,9802 | 274,1211 |
| 7 | 370,7832 | 322,0997 | 273,9806 |
| 8 | 370,7475 | 321,9555 | 273,9931 |
| 9 | 370,8917 | 322,0997 | 273,8337 |
| 10 | 370,8917 | 321,9802 | 273,9742 |
| 11 | 369,6635 | 322,3589 | 274,3677 |
| 12 | 369,5549 | 322,3589 | 274,5141 |
| 13 | 369,6635 | 322,3589 | 274,3677 |
| 14 | 369,5549 | 322,3589 | 274,5141 |
| 15 | 369,6635 | 322,3589 | 274,3677 |
| 16 | 369,6635 | 322,3589 | 274,3677 |
| 17 | 369,5549 | 322,3589 | 274,5141 |
| 18 | 369,5549 | 322,4782 | 274,3739 |
| 19 | 369,5549 | 322,3589 | 274,5141 |
| 20 | 369,5549 | 322,3589 | 274,5141 |
| 21 | 369,9873 | 322,3138 | 274,5988 |
| 22 | 370,1315 | 322,458 | 274,4399 |
| 23 | 370,096 | 322,1944 | 274,5925 |
| 24 | 370,1315 | 322,458 | 274,4399 |
| 25 | 370,1315 | 322,458 | 274,4399 |
| 26 | 370,2402 | 322,458 | 274,2933 |
| 27 | 370,096 | 322,3138 | 274,4523 |
| 28 | 370,2402 | 322,3386 | 274,4336 |
| 29 | 370,096 | 322,1944 | 274,5925 |
| 30 | 369,9873 | 322,3138 | 274,5988 |
| 31 | 370,3488 | 322,0997 | 274,5675 |
| 32 | 370,493 | 322,1244 | 274,5488 |
| 33 | 370,2046 | 321,836 | 274,8662 |
| 34 | 370,3488 | 321,9802 | 274,7076 |
| 35 | 370,3488 | 321,9802 | 274,7076 |
| 36 | 370,3488 | 321,9802 | 274,7076 |
| 37 | 370,3488 | 321,9802 | 274,7076 |
| 38 | 370,3488 | 322,0997 | 274,5675 |
| 39 | 370,3488 | 321,9802 | 274,7076 |
| 40 | 370,4574 | 321,9802 | 274,5611 |
| 41 | 370,2046 | 321,836 | 274,8662 |
| 42 | 370,2046 | 321,836 | 274,8662 |
| 43 | 370,3488 | 321,9802 | 274,7076 |
| 44 | 370,3488 | 321,9802 | 274,7076 |
| 45 | 370,2046 | 321,836 | 274,8662 |
| 46 | 370,0604 | 321,6918 | 275,0245 |
| 47 | 370,3488 | 321,9802 | 274,7076 |
| 48 | 370,2046 | 321,836 | 274,8662 |
| 49 | 370,2046 | 321,836 | 274,8662 |
| 50 | 370,4574 | 321,9802 | 274,5611 |
| 51 | 369,7744 | 321,5686 | 274,5313 |
| 52 | 369,6303 | 321,4246 | 274,6892 |
| 53 | 369,4864 | 321,2806 | 274,8469 |
| 54 | 369,7389 | 321,3052 | 274,6829 |
| 55 | 369,5949 | 321,2806 | 274,701 |
| 56 | 369,4864 | 321,2806 | 274,8469 |
| 57 | 369,4864 | 321,2806 | 274,8469 |
| 58 | 369,5949 | 321,2806 | 274,701 |
| 59 | 369,5949 | 321,1612 | 274,8406 |
| 60 | 369,7389 | 321,3052 | 274,6829 |
| średnia | 370,1157 | 321,989 | 274,523 |
| σ | 0,414751 | 0,357919 | 0,282685 |
| 2σ | 0,829501 | 0,715837 | 0,56537 |
| 3σ | 1,244252 | 1,073756 | 0,848055 |
4. Wyznaczenie sztywności statycznej manipulatora szeregowego 6R z wykorzystaniem czujników linkowych
g) Wykonanie pomiaru
pomiar pierwszy:
Pomiar drugi:
Pomiar trzeci:
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