GB/T 12642-2013 PDF in English
GB/T 12642-2013 (GB/T12642-2013, GBT 12642-2013, GBT12642-2013)
| Standard ID | Contents [version] | USD | STEP2 | [PDF] delivered in | Name of Chinese Standard | Status |
| GB/T 12642-2013 | English | 1195 |
Add to Cart
|
0-9 seconds. Auto-delivery.
|
Industrial robots -- Performance criteria and related test methods
| Valid |
| GB/T 12642-2001 | English | RFQ |
ASK
|
9 days
|
Industrial robots -- Performance criteria and related test methods
| Obsolete |
| GB/T 12642-1990 | English | 959 |
Add to Cart
|
6 days
|
Industrial robots--Performance criteria
| Obsolete |
Standards related to (historical): GB/T 12642-2013
PDF Preview
GB/T 12642-2013: PDF in English (GBT 12642-2013) GB/T 12642-2013
GB
NATIONAL STANDARD OF THE
PEOPLE’S REPUBLIC OF CHINA
ICS 25.040.30
J 28
GB/T 12642-2013 / ISO 9283:1998
Replacing GB/T 12642-2001
Industrial Robots – Performance Criteria and
Related Test Methods
(ISO 9283:1998, IDT)
ISSUED ON: NOVEMBER 12, 2013
IMPLEMENTED ON: MARCH 15, 2014
Issued by: General Administration of Quality Supervision, Inspection and
Quarantine;
Standardization Administration of PRC.
Table of Contents
Foreword ... 3
Introduction ... 5
1 Scope ... 6
2 Normative References ... 7
3 Terms and Definitions ... 7
4 Units ... 8
5 Abbreviations and Symbols ... 8
6 Performance Testing Conditions ... 10
7 Pose Characteristics ... 21
8 Path Characteristics ... 39
9 Minimum Posing Time ... 49
10 Static Compliance ... 50
11 Application Specific Performance Criteria ... 51
12 Test Report ... 52
Annex A (Normative) Parameters for Comparison Tests ... 54
Annex B (Informative) Guide for Selection of Performance Criteria for Typical
Applications ... 59
Annex C (Informative) Example of a Test Report ... 61
Annex NA (Informative) Test Method Based on Industrial Robot Performance in GB/T
12642 ... 67
Bibliography ... 84
Foreword
This Standard was drafted as per the rules specified in GB/T 1.1-2009.
This Standard replaced GB/T 12642-2001 Industrial Robots - Performance Criteria and
Related Test Methods. Compared with GB/T 12642-2001, the major technical changes of this
Standard are as follows:
--- Delete the original “ISO Foreword” (“ISO Foreword" of the 2001 Edition);
--- Add the unit "rpm" (see Clause 4 of this Editon; Clause 4 of the 2001 Edition);
--- Adjust the order of abbreviations and symbols (see Clause 5 of this Edition; Clause 5 of
the 2001 Edition);
--- Add 6.12 performance test method for industrial robots (see 6.12 of this Edition; Clause
6 of the 2001 Edition);
--- Modify the formula in 7.2.2 (see 7.2.2 of this Edition; 7.2.2 of the 2001 Edition);
--- Modify the formula in 7.3.3 (see 7.3.3 of this Edition; 7.3.3 of the 2001 Edition);
--- Change Table C.4 "Position stabilization time and overshoot" in Appendix C into
"Position stabilization time and overshooting amount" (see Table C.4 of this Edition;
Table C.4 of the 2001 Edition);
--- In order to facilitate application, add the informative Appendix NA "Performance test
method for industrial robots based on GB/T 12642" (see Appendix NA);
--- Add Bibliography (see Bibliography).
This Standard adopted translation method to equivalently use ISO 9283:1998 Manipulating
Industrial Robots – Performance Criteria and Related Test Methods. In order to cooperate with
the use of this Standard, we have included the main content of ISO/TR 13309 as Appendix NA
of this Standard.
The Chinese documents that have consistent correspondence with the international documents
referenced in this Standard are as follows.
--- GB/T 12643-1997 Industrial robots – Vocabulary (eqv ISO 8373:1994)
--- GB/T 12644-2001 Industrial robots - Presentation of characteristics (eqv ISO 9946:1999)
--- GB/T 16977-1997 Industrial robots - Coordinate systems and motion nomenclature (eqv
ISO 9787:1990)
This Standard was proposed by China Machinery Industry Federation.
Industrial Robots – Performance Criteria and
Related Test Methods
1 Scope
This Standard describes methods of specifying and testing the following performance
characteristics of manipulating industrial robots:
--- pose accuracy and pose repeatability;
--- multi-directional pose accuracy variation;
--- distance accuracy and distance repeatability;
--- position stabilization time;
--- position overshoot;
--- drift of pose characteristics;
--- exchangeability;
--- path accuracy and path repeatability;
--- path accuracy on reorientation
--- cornering deviations;
--- path velocity characteristics;
--- minimum posing time;
--- static compliance;
--- weaving deviations.
This Standard does not specify which of the above performance characteristics are to be chosen
for testing a particular robot. The tests described in this Standard are primarily intended for
developing and verifying individual robot specifications, but can also be used for such purposes
as prototype testing, type testing or acceptance testing.
To compare performance characteristics between different robots, as defined in this Standard,
the following parameters have to be the same: test cube sizes, test loads, test velocities, test
The sequence of testing has no influence on the results, but it is recommended to perform
position stabilization time test prior to the pose repeatability test, for determination of the
measuring dwell. Tests for overshoot, pose accuracy and repeatability may be performed
concurrently. The test for drift of pose characteristics shall be performed independently.
Pose characteristics shall be tested under pose-to-pose or continuous path control. Path
characteristics shall be tested under path control.
The determination of the path accuracy and repeatability can be done in parallel to that of the
velocity, provided that the measuring device is suitably equipped.
It is recommended that the velocity tests are performed prior to the measurement of the path
accuracy and to use the identical path parameters. This ensures the usage of the correct reference
quantities during determination of the path criteria.
When programming the constant path velocity, care should be taken to ensure that the velocity
override control is set at 100 % and that the velocity is not automatically reduced as a result of
any limitations of the robot along the path to be followed.
Simultaneous testing could be
--- path accuracy/repeatability and velocity characteristics;
--- cornering overshoot and round-off error.
Except for drift of pose characteristics, data collection for one characteristic with one set of
conditions shall be carried out over the shortest period of time.
Any programmed delays used for measurements, e.g. measuring dwell and measuring time,
should be stated in the test report.
6.11 Characteristics to be tested - Applications
The tests described in this Standard may be applied in whole or in part, depending upon the
robot type and requirements (application).
Guidance for the selection of essential robot tests for some typical applications is provided in
Annex B.
7 Pose Characteristics
7 .1 General description
Command pose (see Figure 7): Pose specified through teach programming, numerical data entry
through manual data input or off-line programming.
......
Source: Above contents are excerpted from the PDF -- translated/reviewed by: www.chinesestandard.net / Wayne Zheng et al.
|