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South African Journal of Industrial Engineering

On-line version ISSN 2224-7890
Print version ISSN 1012-277X

Abstract

SINGH, A.P.; PADAYACHEE, J.  and  BRIGHT, G.. An experimental approach to improving the joint stiffness of industrial robots through dexterous posture identification. S. Afr. J. Ind. Eng. [online]. 2021, vol.32, n.4, pp.113-128. ISSN 2224-7890.  http://dx.doi.org/10.7166/32-4-2590.

Deur 'n robot se postuur te verbeter kan beter akkuraatheid en herhaalbaarheid behaal word. 'n Stywer postuur beskerm ook die robot teen onnodige vibrasies en defleksies wat deur 'n toegepaste lading induseer mag word. Hierdie artikel bied 'n metode aan om hoë styfheid robot posture te kies. Die metode word aan die hand van 'n ses vryheidsgrade Fanuc M10-iA serie manipulator gedemonstreer. Die postuur identifikasie en styfheidsmodellering is behaal deur middel van n betroubare en koste-effektiewe alternatief wat gebruik maak van IEPE versnellingsmeters eerder as defleksiemeting.

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