Combinations of the flexibility of industrial robots and
the many advantages of laser technology are becoming
increasingly common. An industrial robot can manipulate
an object under a laser beam during, for example,
welding, cutting or heat treatment. Properties of a Puma
robot were investigated with a view to its possible
incorporation into a laser-robot system. The following
properties were measured; robot arm flexibility,
inaccuracy of the robot and the gripper, vibrations
during movement, overshoot in linear interpolation
movement, repeatability etc.
The flexibility of the robot arm was 0.5...0.7 mm when a
load of 2 kg was attached to the gripper. The overshoot
was slight at small velocities and 0.45...0.65 mm at the
velocity of 200 mm/s, when the gripper was driven into a
point in different directions.
The repeatability of the robot was usually +/-0.07...0.11
mm. The maximum value was +/-0.14 mm. Vibrations during
gripper movement cause more difficulties in laser
manufacturing than errors in repeatability.
The laser-robot system can be used in industrial
applications where high precision is not necessary. The
application area of the robot-laser system increases,
when more accurate robots are developed.
|Place of Publication||Espoo|
|Publisher||VTT Technical Research Centre of Finland|
|Number of pages||52|
|Publication status||Published - 1988|
|MoE publication type||Not Eligible|
|Series||Valtion teknillinen tutkimuskeskus. Tiedotteita|