The goal of this project is to provide the sponsor with a test fixture and procedure to characterize positioning repeatability of collaborative robots as a function of payload and acceleration according to ISO 9283. Using the Universal Robot’s model UR10 as a testing platform, the objective was accomplished by analyzing the current state of the art techniques for robot characterization; completing a vibrational analysis to select and implement suitable metrology equipment; designing, optimizing, and manufacturing a test fixture; developing a testing procedure and software; applying the fixture and test procedures to characterize positioning repeatability. The outcomes prove the potential of the developed methods and equipment for expansion to additional projects of interest to the sponsor.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Li, Haoran
• Kurisko, Timothy Ryan
• Worcester, James William
• Poganski, David Michael
• Baker, Joshua Stephen

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-042914-142811

Advisor

• Lados, Diana A.
• Furlong-Vazquez, Cosme

Year

• 2014

Date created

• 2014-04-29

Resource type

• Major Qualifying Project

Major

• Mechanical Engineering

Rights statement

• In Copyright