Industrial Robot Positioning Performance Measured on Inclined and Parallel Planes by Double Ballbar

Renishaw Ballbar QC20–W is primarily intended for diagnostics of CNC machine tools, but it also used in connection with industrial robots. In the case standard measurement, when measuring plane parallel to robot base, not all joints move. The purpose experiments present article was verify hypothesis motion desired circular path placed on an inclined plane. first part conducted established confirmed, through positional analysis a simulation model robot. They are then carried out practical measurements being evaluated influence individual deform path, shown as polar graph. As result, found that used, changing configuration arm has greatest effect shape