毕业设计外文资料翻译--人工和工业机器人重复操作定位精度比较(编辑修改稿)

毕业设计外文资料翻译--人工和工业机器人重复操作定位精度比较(编辑修改稿)内容摘要：

of the repeatability test in free robot and braced robot. 4 The results of the repeatability test in free human operator and with bracing. In the next four histograms (Figs. 4 and 5) the results of the position repeatability for the four specified types of testing are presented. The repeatability of the braced robot as pared to the free robot was improved for approximately 50%. The same improvement in the human operator was for about 25%. Note,that the weighttopayload ratio for robot was more than 10_ higher than for human operator. 4 Conclusion Applying bracing strategy during robot manipulation is a copy of human behavior. Position repeatability performance criteria were studied. Repeatability measurements according to ISO 9283 were performed with industrial manipulating robot. For the first time, the same measurement of position repeatability under condition of ISO 9238 standard was used in the test of a human operator performance. The results show significant improvement of position repeatability in cases when the robot and the human operator are braced against the supporting body. The parative study encouraged researchers for further investigation of bracing strategy [7]. Same approaches to human operator position repeatability assessment could be applied also in ergonomic studies. 5 Summary The industrial manipulating robots are usually more or less accurate structural copies of human operator39。 s arms and hands. Structural copying of the natural mechanisms alone does not always give satisfying results, hence the modern robotic manipulators with maximum rated loads below 3 kg are mechanically inferior to human operators. Bracing 5 strategy which is used for improving particular robot performances is the bination of the structural and functional copying of natural human behavior. A human operator, when performing precise ma nipulation tasks often finds supports for his forearm, wrist or elbow like in many situations watchmakers are practicing. The same simple idea can be transferred into robotics with the aim of temporarily improvement of robot characteristics such as accuracy, repeatability,stiffness, payload capacity and mechanical vibrations. The objective of our research was to get concise technical parison between the robot and human operator39。 s performances concerning positional repeatability. ISO 9283 standard for ma nipulating industrial robot performance criteria and related test methods was the basis for the parative study. The testing equipment was built around the contactless 3D motion analysis system OPTOTRAK174。 /3010 (Northern Digital). The position repeatability tests were performed for the robot Asea Irb 6 and the human operator acplishing similar manipulating task under the same conditions. Human and robot operations in free and braced condition were tested. Position repeatability of the braced robot as pared to free robot was improved for approximately 50%. The same improvement in human operator was about 25%.Weighttopayload ratio for robot。