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GB/T 40014-2021: Dual arm industrial robots - Performance and related test methods
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Dual arm industrial robots - Performance and related test methods
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Basic data | Standard ID | GB/T 40014-2021 (GB/T40014-2021) | | Description (Translated English) | Dual arm industrial robots - Performance and related test methods | | Sector / Industry | National Standard (Recommended) | | Classification of Chinese Standard | J28 | | Word Count Estimation | 24,224 | | Issuing agency(ies) | State Administration for Market Regulation, China National Standardization Administration | GB/T 40014-2021: Dual arm industrial robots - Performance and related test methods---This is a DRAFT version for illustration, not a final translation. Full copy of true-PDF in English version (including equations, symbols, images, flow-chart, tables, and figures etc.) will be manually/carefully translated upon your order.
(Performance and test methods of dual-arm industrial robots)
ICS 25.040.30
J28
National Standards of People's Republic of China
The performance of dual-arm industrial robot and its test method
Released on 2021-04-30
2021-11-01 implementation
State Administration of Market Supervision and Administration
Issued by the National Standardization Management Committee
Table of contents
Foreword Ⅲ
1 Scope 1
2 Normative references 1
3 Terms and definitions 1
4 Abbreviations 3
5 Coordinate system of dual-arm industrial robot 3
5.1 General Principle 3
5.2 Absolute coordinate system 4
5.3 Frame coordinate system 4
5.4 Mechanical interface coordinate system 4
6 Performance 5
6.1 Operational performance of dual-arm combination 5
6.1.1 General 5
6.1.2 Combined pose characteristics 5
6.1.3 Combined track characteristics 6
6.2 Joint operation performance of both arms 6
6.2.1 General 6
6.2.2 Joint pose characteristics 6
6.2.3 Joint trajectory characteristics 8
6.2.4 Joint minimum positioning time (mptDJ) 9
6.2.5 Combined static compliance (scDJ) 9
7 Test method 10
7.1 General 10
7.2 Two-arm combination operation performance test method 10
7.2.1 Test conditions 10
7.2.2 Combined pose characteristics test method 10
7.2.3 Test method of combined trajectory characteristics 15
7.3 Two-arm joint operation performance test method 19
7.3.1 Joint pose characteristics test method 19
7.3.2 Joint trajectory characteristic test method 20
7.3.3 Joint minimum positioning time test method 21
7.3.4 Combined static compliance test method 21
The performance of dual-arm industrial robot and its test method
1 Scope
This standard specifies the performance and test methods of dual-arm industrial robots for dual-arm combined operation and dual-arm combined operation.
The following performance parameters and their test methods are listed.
---Combined pose characteristics;
---Combined trajectory characteristics;
---Joint pose characteristics;
---Joint trajectory characteristics;
---Joint minimum positioning time;
---Combined static flexibility.
Note. For a specific dual-arm industrial robot, this standard does not specify which performance parameters mentioned above should be selected.
This standard is applicable to the research and inspection of the performance indicators of a dual-arm industrial robot, as well as the prototype test,
Type test and acceptance test, etc.
2 Normative references
The following documents are indispensable for the application of this document. For dated reference documents, only the dated version applies to this article
Pieces. For undated reference documents, the latest version (including all amendments) is applicable to this document.
GB/T 12642-2013 Industrial robot performance specifications and test methods
GB/T 12643-2013 Robots and Robot Equipment Vocabulary
GB/T 16977-2019 Robot and robot equipment coordinate system and motion naming principles
3 Terms and definitions
The following terms and definitions defined in GB/T 12642-2013 and GB/T 12643-2013 apply to this document.
3.1
Manipulator
It is used to grasp and/or move objects, composed of some mutually hinged or relatively sliding components, and has multiple freedoms with only one mechanical interface
Degree machine.
Note 1.Rewrite GB/T 12643-2013, definition 2.1.
Note 2.Including but not limited to series type, parallel type, hybrid type manipulator.
3.2
Dualarmindustrialrobot
An industrial robot that uses a set of control system to control two sets of manipulators to complete one or a set of operating tasks.
Note. The schematic diagram of the dual-arm industrial robot is shown in Figure 1.
The combination of time and the actual deviation between the average pose.
The combined pose accuracy is divided into.
a) Combined position accuracy. the difference between the vector of the combined instruction pose and the vector mean of the combined actual pose;
b) Combined posture accuracy. the difference between the posture of the combined command pose and the average combined actual posture.
6.1.2.3 Combined pose repeatability (RPDC)
The repeatability of the combined pose is that for the same group of combined command poses, the operating machine A and the operating machine B each respond n times from the same direction.
After that, the combination has reached the same level of pose.
6.1.3 Combined track characteristics
6.1.3.1 Overview
The combined trajectory is a vector sequence from the end trajectory of the manipulator A to the end trajectory of the manipulator B in the dual-arm combined operation mode.
The combined instruction trajectory is set by the operating machine by teaching programming, manual data input or offline programming in the dual-arm combined operation mode.
The A command trajectory points to the vector sequence of the command trajectory of the operating machine B.
The combined actual trajectory is in the dual-arm combined operation mode, and the operating machine A and the operating machine B respond to their respective command tracks in the automatic mode.
When each trace actually reaches the trajectory, the actual trajectory from the operating machine A points to the actual trajectory vector sequence of the operating machine B.
The accuracy characteristic of the combined trajectory is determined by the deviation between the combined command trajectory and the combined actual trajectory.
6.1.3.2 Combined trajectory accuracy (ATDC)
The accuracy of the combined trajectory means that the dual-arm industrial robot moves n times along the same group of combined instruction trajectories. The mechanical interface of the manipulator A and
The ability to manipulate the mechanical interface of machine B.
The accuracy of the combined trajectory is determined by the following two factors.
---The deviation between the position of the combined instruction trajectory and the center line of each combined actual trajectory position cluster (that is, the combined position trajectory is accurate
degree);
---The deviation between the combined command posture and the combined actual posture average (that is, the combined posture trajectory accuracy).
The accuracy of the combined trajectory is that when the two manipulators of the dual-arm industrial robot move synchronously along their respective command trajectories, the combined actual pose and group
The maximum deviation of the combined command pose.
The combined position trajectory accuracy is the maximum distance between the positions of some calculated points on the combined instruction trajectory and the cluster center measured multiple times.
Great value.
6.1.3.3 Combined track speed accuracy (AVDC)
The difference between the combined command speed and the combined actual speed average obtained by repeated measurements along the trajectory, the combined command speed can be used
The percentage indicator.
6.2 Joint operation performance of both arms
6.2.1 General
The dual-arm joint operation characteristic is the performance of the dual-arm industrial robot during joint operation.
6.2.2 Joint pose characteristics
6.2.2.1 Overview
The joint pose characteristic is the pose performance of the dual-arm industrial robot during joint operation. The joint pose is the end of the manipulator A and the manipulator
6.2.2.5.2 Joint distance accuracy (ADDJ)
The joint distance accuracy is the deviation of the position and attitude between the joint command distance and the average joint actual distance.
6.2.2.5.3 Joint distance repeatability (RDDJ)
Joint distance repeatability means the same joint actual distance of the workpiece after repeated movement of the same joint command distance in the same direction n times
degree. Joint distance repeatability includes joint position distance repeatability and joint attitude distance repeatability.
6.2.2.6 Joint position stabilization time (pstDJ)
The joint position stabilization time is used to measure the performance of the dual-arm industrial robot to jointly control the workpiece to stop at the joint actual position.
The joint position stabilization time is the elapsed time from the moment when the center of mass of the workpiece enters the threshold band for the first time to when it no longer exceeds the threshold band.
6.2.2.7 Combined position overshoot (OVDJ)
The purpose of measuring the joint position overshoot is to measure the joint control of the dual-arm industrial robot to stop the workpiece smoothly and accurately.
The ability of posture. It should be understood that the joint position overshoot is related to the joint position stabilization time.
The joint position overshoot is the maximum distance between the instantaneous position and the actual stable position after the workpiece enters the threshold zone for the first time and then exceeds the threshold zone.
6.2.2.8 Joint pose characteristic drift (dPDJ)
The joint pose drift characteristics include joint pose accuracy drift and joint pose repeatability drift.
The combined pose accuracy drift (dAPDJ) is the change in the accuracy of the workpiece pose within a specified time (T).
The joint pose repetitive drift (dRPDJ) is the repetitive change of the workpiece pose within a specified time (T).
6.2.3 Joint trajectory characteristics
6.2.3.1 Overview
The joint trajectory characteristic is the movement trajectory of the operated workpiece when the two arms jointly operate the workpiece.
The joint command trajectory is the workpiece trajectory set by teaching programming, manual data input or offline programming during the joint operation of both arms.
The joint actual trajectory is when the two-arm joint operation is performed, the dual-arm industrial robot responds to the joint command pose in the automatic mode, and the workpiece actually reaches the position.
To the trajectory.
The definition of joint trajectory accuracy and joint repeatability has nothing to do with the shape of the trajectory.
Figure 7 gives a general description of joint trajectory accuracy and joint trajectory repeatability.
Figure 7 Joint trajectory accuracy and joint trajectory repeatability for a certain joint command trajectory
Refer to GB/T 12642- for the definition, calculation and test conditions of the double-arm redirection trajectory accuracy and corner deviation in the joint operation trajectory characteristics.
Chapter 8 in.2013.
6.2.3.2 Joint trajectory accuracy (ATDJ)
The accuracy of the joint trajectory means that the dual-arm industrial robot jointly operates a workpiece to move n times along the joint instruction trajectory in the same direction.
The ability of the artifact.
The joint trajectory accuracy is the maximum trajectory deviation of the controlled workpiece in the position and posture along the obtained trajectory.
The joint position trajectory accuracy ATP is the position of some (m) calculation points on the workpiece instruction trajectory and the cluster center Gi of n measurements.
The maximum value of the distance between.
6.2.3.3 Joint trajectory repeatability (RTDJ)
The repeatability of the joint trajectory is the consistency of the joint trajectory when the dual-arm industrial robot repeats the same joint command trajectory n times.
6.2.3.4 Joint reorientation trajectory accuracy
The joint trajectory repeatability is the effect of the dual-arm industrial robot alternately changing its posture in three directions on a straight trajectory.
6.2.3.5 Joint trajectory speed characteristics
6.2.3.5.1 Overview
The joint trajectory speed is the movement speed of the center of mass of the manipulated workpiece when the two arms jointly operate the workpiece.
The joint command speed is the center of mass of the workpiece set by teaching programming, manual data input or offline programming in the dual-arm joint operation mode
The command trajectory speed.
The joint actual speed is in the dual-arm joint operation mode, the dual-arm industrial robot responds to the workpiece command speed in the automatic mode, and the workpiece quality
The actual track speed of the heart.
6.2.3.5.2 Joint trajectory speed accuracy (AVDJ)
The speed accuracy of the joint trajectory is the average value of the joint actual speed obtained by the joint command speed and n repeated measurements along the trajectory.
Difference.
6.2.3.5.3 Joint trajectory velocity repeatability (FVDJ)
The joint trajectory speed repeatability is the degree of consistency of the joint actual speed obtained for the same joint command speed.
6.2.3.5.4 Combined trajectory speed fluctuation (RVDJ)
The joint trajectory speed fluctuation is the maximum amount of speed change in the process of reproducing a joint command speed.
The joint trajectory speed fluctuation is the maximum value of the joint speed fluctuation each time it is reproduced.
6.2.4 Joint minimum positioning time (mptDJ)
The minimum joint positioning time is when the dual-arm joint operation is performed, the dual-arm industrial robot is in the point position control mode, and the workpiece starts to move from the static state.
The time it takes to reach a stable state at a predetermined distance and/or swing at a predetermined angle.
6.2.5 Combined static compliance (scDJ)
Joint static compliance is the maximum displacement under unit load during joint operation. Should be loaded at the mechanical structure of the workpiece and
Measure displacement.
7 Test method
7.1 General
In order to compare the performance indicators of different dual-arm industrial robots, the following parameters should be the same.
---The size of the test cube;
---Test load;
---Test speed;
---Test trajectory;
---Test cycle;
---Environmental conditions.
7.2 Operational performance test method of dual-arm combination
7.2.1 Test conditions
Without special instructions, the test conditions for the combined operation of the dual-arm industrial robot are shown in 6.1, 6.2 and 6.3 of GB/T 12642-2013.
In the double-arm combined operation test, without special instructions, the operation machine A and the operation machine B use the same load, speed, pose and other tests
condition.
7.2.2 Combined pose characteristics test method
7.2.2.1 Combined operation test cube
There are two test cubes in the combined operation of the dual-arm industrial robot, namely the test cube A of the manipulator A and the test stand of the manipulator B.
Cube B. The definition of the two test cubes, including the position of the cube in the working space, the position of the plane used in the cube, and the track to be tracked.
For traces, see 6.8 in GB/T 12642-2013.When the agreement cannot be achieved due to the structure of the robot, the definition of the cube can be determined by the manufacturer
Regulations.
7.2.2.2 Test pose
In the dual-arm combined operation mode, the measurement plane and selection plane of each manipulator of the dual-arm industrial robot are shown in GB/T 12642-2013
In 6.8.4.
See Figure 8 for the selection plane and measurement plane of the dual-arm industrial robot test cube. Examples of poses used by dual-arm industrial robots
See Figure 9.
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