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Proceedings Paper

Low Cost Laser-Based System For Manipulator Repeatability Measurements
Author(s): Yan Gao; Guang-Yao Chen
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Paper 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.

Paper Details

Date Published: 1 January 1987
PDF: 5 pages
Proc. SPIE 0817, Optomechanical Systems Engineering, (1 January 1987); doi: 10.1117/12.967426
Show Author Affiliations
Yan Gao, Shanghai University of Technology (China)
Guang-Yao Chen, Shanghai University of Technology (China)


Published in SPIE Proceedings Vol. 0817:
Optomechanical Systems Engineering
Daniel Vukobratovich, Editor(s)

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