1、1 ANSIIRIARlS.OS-1-1990 for Industrial Robots and Robot Systems - Point-to-Point and Static Performance Characteristics - Evaluation American Matrona Neti) York , New York Approval of an American National Standard requires verification by ANSI that the re- quirements for due process. consensus, and
2、other criteria for approval have been met by the standards developer. American National Standard Consensus is established when, in the judgment of the ANSI Board of Standards Review, substantial agreement has been reached by directly and materially affected interests. Sub- stantial agreement means m
3、uch more than a simple majority, but not necessarily unanim- ity. Consensus requires that all views and objections be considered, and that a concerted effort be made toward their resolution. The use of American National Standards is completely voluntary; their existence does not in any respect precl
4、ude anyone, whether he has approved the standards or not, from man- ufacturing, marketing, purchasing, or using products, processes, or procedures not con- forming to the standards. The American National Standards Institute does not develop standards and will in no cir- cumstances give an interpreta
5、tion of any American National Standard. Moreover, no per- son shall have the right or authority to issue an interpretation of an American National Standard in the name of the American National Standards Institute. Requests for inter- pretations should be addressed to the secretariat or sponsor whose
6、 name appears on the title page of this standard. CAUTION NOTICE: This American National Standard may be revised or withdrawn at any time. The procedures of the American National Standards Institute require that action be taken periodically to reaffirm, revise, or withdraw this standard. Purchasers
7、of American National Standards may receive current information on all standards by calling or writing the American National Standards Institute. Published by American National Standards Institute 1430 Broadway, New York, New York 10018 Copyright 0 1990 by American National Standards Institute, Inc A
8、U rights reserved. No part of this publication may be reproduced in any form, in an electronic retrieval system or otherwise, without the prior written permission of the publisher. Printed in the United States of America APSlM390/32 ANSI/MA R15.05l-1990 American National Standard for Industrial Robo
9、ts and Robot Systems - Point-to-Point and Static Performance Characteristics - Evaluation Sponsor Robotic Industries Association Approved September 13,1989 American National Standards Institute, Inc Foreword (This Foreword is not part of American National Standard ANSI/RIA RI5 05-I-1990.) The object
10、ive of this standard is to provide meaningful technical information to help robot users select the best robot for their specific applications. It defines the most important static performance criteria and a method for evaluating them. These criteria are accuracy, cycle time, repeatability, overshoot
11、, settling time, and compliance. These six criteria, selected from a list of nearly thirty, are felt to represent the best indication of the overall static performance of industrial robots. In order to achieve this means of relative comparison of robots, standard test paths and conditions are used,
12、The results do have limitations and should be supplement- ed with additional engineering information when considering detailed systems spec- ifications and designs. The concept of performance classes is also introduced. These classes are used to determine robot performance when used at rated capacit
13、y, to optimize maximum cyclic rate, to optimize repeatability or optimize other specific criteria important for certain applications. A list of recommended specifications is also included. These specifications cover much of the information needed by robot users, such as service requirements, environ
14、mental effects, and tolerances. This standard is not a safety standard and therefore does not directly address the safety issues related to robot performance and operation. It is the responsibility of whomever uses this standard to consult and utilize appropriate safety standards and health practice
15、s. Care should be exercised in the interpretation of the results determined by this standard. Many of the parameters measured using the guidelines described in this standard may change during the life of the robot. The manufacturer should be con- sulted regarding performance warranties covering the
16、life of the robot. Use of industry standards, including this standard, is voluntary. The Robotic Industries Association makes no determination with respect to whether any robot, manufacturer, or user is in compliance with this standard. Suggestions for improvement of this standard will be welcome. T
17、hey should be sent to Subcommittee R15.05 on Performance, Robotic Industries Association, P.O. Box 3724, Ann Arbor, MI 48106. Consensus for approval of this standard as an American National Standard was achieved by the use of the Canvass Method. The following organizations recognized as having an in
18、terest in an industrial robot point-to-point and static performance test methodology were contacted prior to the approval of the standard. Inclusion in this list does not necessarily imply that the organization concurred with the submittal of the standard to ANSI: ABB Robotics Adept Technology Advan
19、ced Automation Alliance of American Insurers Automated Manufacturing Systems Chrysler Corporation Cimcorp, Inc Cincinnati Milacron, Industrial Robot Division DeVilbiss Company GMF Robotics General Motors Corporation l CPC Division l Saginaw Division Hewlett Packard IBM Corporation John Deere Control
20、 Chart Method of Analyz- ing Data; and Control Chart Method of Control- ling Quality During Production ANSI/RIA R15.06-1986, Industrial Robots and Robot Systems - Safety Requirements ASTM E-122-72, Recommended Practice for Choice of Sample Size to Estimate the Average Quality of a Lot or Process AST
21、M-STP 15D, IS0 Presentation of Data and Control Chart Analysis ISO/DIS 9283: 1988, Manipulating Industrial Robots - Performance Criteria and Related Test Methods2 , -9 ISO/ DIS 9787: 1988, Manipulating Industrial Robots - Coordinate Systems and Motions* ISO/TR 8373: 1988, Manipulating Industrial Rob
22、ots - Vocabulary2 Available from ASTM, 1916 Race Street, Philadelphia, PA 19103. *Available from the American National Standards Institute, 1430 Broadway, New York, NY 10018. 6 3. Definitions mean. The mean of the sample which can be calcu- lated as follows: accuracy. See 8.2. axis acceleration. The
23、 maximum acceleration at which a particular axis can be successfully com- manded to move while carrying the rated payload. axis velocity. The maximum speed that a particular axis can attain when the robot is loaded with the rated payload. compliance. The deflection of a robot measured at the center
24、of gravity of the standard test load under incremental static forces applied at the same point. cycle. A single execution of a complete set of moves and functions contained within a robots program. cycle time. A measure of the time it takes a robot to move through a defined series of motions with a
25、defined payload. duty cycle. A percentage of time a robot can con- tinuously operate with the rated payload at rated conditions (for example, velocity, acceleration, and temperature) without overheating or degradation of the robot. This is a manufacturers recommend- ation. dynamic. A state in which
26、an entity changes with time. figure of merit (FOM). Values determined through testing which quantify a particular performance parameter. For example, the mean and standard deviation are two figures of merit which quantify the static position accuracy. These figures of merit are presented in Figure 1
27、7. industrial robot. A reprogrammable, multifunc- tional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a va- riety of tasks. industrial robot systems. A robot system includes the robot or robots (hardware and so
28、ftware) con- sisting of the manipulator, power supply, and con- troller; the end-effecters; any equipment, devices, and sensors with which the robot is directly inter- facing; any equipment, devices, and sensors required for the robot to perform its task; and any communications interface that is ope
29、rating and monitoring the robot, equipment, and sensors. (This definition excludes the rest of the operating system hardware and software.) F-,/ix, l-1 where: z = Mean of the sample xi = The ith observation N = Number of observations in the sample measurement dwell. A delay at the measurement point
30、prior to recording data. mechanical interface. The mechanical structure of the junction between the mechanical flange and the end-effector. offset axial. The distance from the mechanical flange along the 2, axis of the mechanical interface coor- dinate system to the center of gravity of the test loa
31、d. (See 4.3 and Figure 11.) radial. The perpendicular distance from the 2, axis of the mechanical interface coordinate system to the center of gravity of the test load. (See 4.3 and Figure 11.) orientation. The three-dimensional location of the test point defined by the three angular parameters: rol
32、l, pitch, and yaw. overshoot. The maximum distance a robot travels past the attained pose along the direction of motion after a move command. payloads maximum. The maximum weight that the robot can manipulate at a specified velocity, accelera- tion/deceleration, center of gravity location (offset),
33、and repeatability under continuous opera- tion over a specified working space. Maximum payload is to be specified in kilograms. rated. The weight that the robot is designed to manipulate under the manufacturers specified per- formance conditions of velocity, acceleration/ deceleration, and duty cycl
34、e over the entire work- ing space. The center of gravity of the payload is to be at offsets specified by the manufacturer. Rated payload is to be specified in kilograms. test. See Test Load. pose. A position and orientation in space. attainedpose. The measured position and orien- tation of the test
35、load defined by six independent 7 AMERICAN NATIONAL STANDARD ANSI/RIA R15.05-1-1990 parameters (for example, the robot base coordi- nates Xl, Yr, Zr, AI, Br, and CI are commonly used) in response to the commanded pose or pro- grammed pose. (See 4.2.) commandedpose. The desired position and orientati
36、on of the test load which is entered into the controller by teach programming. The pose of a robot with less than six degrees of freedom (DOF) is defined by the same number of parame- ters as it has DOF. programmedpose. The desired position and orientation of the test load which is entered into the
37、controller through explicit pose-to-pose (PTP) or path programming. The pose of a robot with less than six degrees of freedom (DOF) is defined by the same number of parameters as it has DOF. position. The three-dimensional location of the test point defined by the three translation parameters x, r,
38、z. position control. The adjustment of the static positioning accuracy through hardware or software in the robot controller. position repeatability. The difference between achieved test point locations in the same direction. positional accuracy. The difference between achieved and command test point
39、 locations. program. A collection of robot directives and data necessary to perform one robot cycle. repeatability. See 8.3. right-handed Cartesian coordinate system. A coor- dinate system that has its axes perpendicular to each other (mutually orthogonal) such that if the thumb, index, and middle f
40、ingers of the right hand were positioned at right angles to indicate direc- tion, the X-direction would point along the index finger, the Y-direction would point along the mid- dle finger, and the Z-direction would point along the thumb (Figure 1). right-hand rule sign direction convention. A sign c
41、onvention for assigning the direction of a rotating body. The right hand can be visualized as wrap- ping around the axis of rotation with the thumb pointing in the positive direction. The fingers of the right hand would then point in the positive direction of rotation (counterclockwise) (Figure 2).
42、segment cycle time. The average time required by the robot to travel through one segment of the standard test path. settling time. The elapsed time, after a move com- mand is given, for a robot to reach and to remain within the manufacturers rated band limit of point-to-point repeatability near a ta
43、rget position from the moment of the initial entry into the band limit. (See 8.5.3 and Figure 23.) stabilization. The time period and number of cycles after which all attained poses of all programmed poses in a continuously cycling robot program remain within a desired position band (stability band)
44、. standard deviation. The estimated standard devia- tion which can be calculated as follows: where: S = Standard deviation of the sample X = Mean of the sample Xi = The value of the ith observation N = Sample size standard test path. A series of reference positions defined with respect to the robot,
45、 along which per- formance parameters are measured. (See 6.6.) standard test plane. An unbounded reference plane within the robot working space which is parallel to the (I,1 ,- 1) plane and passes through the working space center point, cW. (See 6.5.) start cold. The first automatic operation within
46、 5 min- utes of applying power after the system has been without power for a period of at least 4 hours. warm. The initiation or resumption of automatic operation after the position repeatability has achieved stabilization (Figure 20). static. Said of a property that does not change with time. . -7
47、target position. The achieved position of the test point which results after the robot has been com- manded to obtain a specified pose. The resulting position includes robot system effects such as backlash. test load. A weight equivalent to a steel cube whose center of gravity is located at some rad
48、ial and axial offset. (See Table 1.) 8 AMERICAN NATIONAL STANDARD ANSURIA R15.05-l-1990 +2 Figure 1 Right-Hand Rule Coordinate System Figure 2 Right-Hand Rule Sign Direction Convention AMERICAN NATIONAL STANDARD ANSI/RIA R15.05-1-1990 point. The physical point on the end-effector where the robot pos
49、ition is measured. traverse speed. The average linear speed achieved by the robot during the large motions associated with the return path or the cycle time test. warm-up drift. The difference between the first positon after start-up (from a cold robot system condition) and the first achieved position after reaching repeatability stabilization (Figure 20). warm-up period. The elapsed time (in minutes) between the first cycle, after start-up from a “cold start” condition of the robot system, and the cycle in which position repeatability has achieved stabili- zation (Figure 20). working
