Research of the Influence of Production Technologies on the Positioning Accuracy of a Robotic Arm for Low Handling Weights

Abstract

The subject of the paper is the research of production technologies influence on positioning accuracy of a robotic arm. The aim was to find out whether different production technologies (additive and conventional) and the related design differences of the robotic arm affect its operational functionality. In the research, positioning accuracy of a robotic arm formed by 3 partial arms was specifically investigated, while the first partial arm Arm I was manufactured by two different technologies. On the robotic arm, the research was carried out in such a way that the first partial arm, Arm I, was being continuously changed and was available for research purposes in two variants. Each of the Arm I variants was manufactured using a different technology (additive and conventional) while, at the same time, the individual variants also differed in construction. The design differences of both variants were related to the production technology used. The measurement of positioning accuracy was performed with the use of two methods. Specifically, a contact and a non-contact method was used. The contact method was implemented on a 3D-measuring machine RAPID and the second contactless method was performed using an inductive sensor. The maximum working load of the robotic arm was 2 kg, so the positioning accuracy was examined at three degrees of operating load equal to 0; 50 and 100% of the maximum workload.