Low Cost Laser-Based System For Manipulator Repeatability Measurements

Yan Gao; Guang-Yao Chen

doi:10.1117/12.967426

1 January 1987 Low Cost Laser-Based System For Manipulator Repeatability Measurements

Yan Gao, Guang-Yao Chen

Proceedings Volume 0817, Optomechanical Systems Engineering; (1987) https://doi.org/10.1117/12.967426
Event: 31st Annual Technical Symposium on Optical and Optoelectronic Applied Sciences and Engineering, 1987, San Diego, CA, United States

Abstract

Industrial robot is mechanical manipulator with repeatability as its one of the most important characteristics. To measure the repeatability of a manipulator moving in space revolving diameter 2 to 5 meters, it is required to design a new test system with high accuracy. The spacial repeatability is tested by two sets of experimental setups arranged at right angle. Each setup is composed of the following items: 1). A He-Ne laser generater, a Fresnel zone plate, a corner cube prism and a quadrant cell which constitutes a optical two-dimensional sensing system; 2). A precision horizontal slide and a vertical mechanical slide both actuated by stepped motor which guide an optoelectronic device to trace automatically the laser beam reflected from the corner cube prism which is mounted on the hand of the manipulator; 3). Data processing circuits and movement control circuits of stepped motors controlled by a microcomputer; 4). Two inductosyn devices and related numerical display meter used to measure the two-dimensional displacement. This paper deals with the application of automatic tracing technique by means of the corner cube prism and laser on micrometrology as well as the setups of this system. The experimental results by using of this system are presented. It is possible to achieve an accuracy of 0.02 mm or 7.8*10-finch.

Citation Download Citation

Yan Gao and Guang-Yao Chen "Low Cost Laser-Based System For Manipulator Repeatability Measurements", Proc. SPIE 0817, Optomechanical Systems Engineering, (1 January 1987); https://doi.org/10.1117/12.967426

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