Search

This article presents the fundamental principles of robot accuracy. It characterizes a modular robot, describes the measurement setup, and outlines the methodology for evaluating positioning accuracy across different configurations of the modular robot (four, five, and six modules) under varying loads of 6, 10, and 16 kg. An analysis was conducted on the impact of load changes on four- and five-module configurations, as well as the effect of configuration changes on the robot’s performance with 6 and 10 kg loads. The findings indicate that both the number of modules and the load affect positioning accuracy. This article highlights the importance of selecting the optimal configuration based on planned industrial tasks to ensure the highest precision and operational efficiency.

This article deals with the design of a methodology for vibration and noise measurement on a six-axis collaborative robotic arm. A vibration and noise measurement methodology is proposed for six robot positions. In each position, measurements were performed under defined equal boundary conditions. The boundary conditions were related to the velocities of the joints and the load on the robotic arm. The second part of the article is an evaluation of the initial experimental results. So far, only the acceleration of the sixth joint of the robotic arm—Wrist 3—has been measured. The aim of the measurements was to verify if the methodology presented can be used for vibration measurements. From the evaluation of the experimental measurements, it was determined that the given methodology can be used for vibration measurements. It was also found that the acceleration is transmitted in the axes other than the axis of motion of the robotic arm. In future experiments, the vibration at the other joints of the robotic arm will be measured and the noise of the robotic arm will be measured to confirm whether the proposed methodology is indeed functional.