1、for Industrial Ro Path-Related Performance Evaluation bots and Robot Syst and Dynamic Characteristics ANSIIRIA R15.052-1992 ems - - American National Standards institute 11 West 42nd Street New York, New York 1 70036 ANSVRIA R15.05-2-1992 American National Standard for Industrial Robots and Robot Sy
2、stems - Path-Related and Dynamic Performance Characteristics - Evaluation Secretariat Robotic Industries Association Approved September 14, 1992 American National Standards Institute, Inc. American Approval of an American National Standard requires verification by ANSI that the requirements for due
3、process, consensus, and other criteria for National wp roval have been met by the standards developer. Standard c onsensus is established when, in the judgment of the ANSI Board of Standards Review, substantial agreement has been reached by directly and materially affected interests. Substantial agr
4、eement means much more than a simple majority, but not necessarily unanimity. 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 r
5、espect preclude anyone, whether he has approved the standards or not, from manufacturing, marketing, purchasing, or using products, processes, or procedures not conforming to the standards. The American National Standards Institute does not develop standards and will in no circumstances give an inte
6、rpretation of any American National Standard. Moreover, no person 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 interpretations should be ad- dressed to the secretariat or sponsor w
7、hose 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 CAUTION NOTICE: This American National Standard may be revised or withdrawn at any time.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. Purchas
8、ers 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 11 West 42nd Street, New York, New York 10036 Copyright 0 1993 by American National Standards Instit
9、ute All rights reserved. No part of this publication may be reproduced in any form, in an electronic retrieval system or otherwise, without prior written permission of the publisher Printed in the United States of America APS3C393158 Contents Page Foreword. . . . . . . . . . . . . . . . . . . . . .
10、. . . . . . . . . I11 1 2 3 4 5 6 7 8 9 10 11 12 Scope, purpose, and exclusions 1 Normative references . . . 1 Definitions . . .2 Units . 5 Abbreviations and symbols . . . 5 Coordinate systems 5 Basic robot mechanical configurations . . . Standard test conditions . . . .8 Performance classes - path
11、related. 11 Performance criteria - path related . . . . . . . Recommended specifications. . Testing . . . . . . . . . . . . . . . . . . . . . . . . . Figures 1 2 3 4 5 6 7 8 9 IO 11 12 13 14 15 16 17 18 19 20 Right-hand rule Cartesian coordinate system Right-hand rule sign direction convention Coord
12、inate system types Working space center point Axis numbering examples . Cartesian mechanical configuration Cylindrical mechanical configuration Spherical mechanical configuration . . . . . . . . . . . . . . l 1 . . . . . . . . 17 . . . . . . . . . . . 18 . . . . . . . . . . 20 20 .21 21 Vertically a
13、rticulated mechanical configuration . . . . . . . 26 Horizontally articulated mechanical configuration . . . . . . . . .27 Roll, pitch and yaw. . . . . . . . . . . . . . . . . .28 Standard test plane location . . . . . . . . . 28 Standard test path location in working space. 29 , -, Exception standa
14、rd test plane location example . . . . . . . 29 Standard test path characteristics (plan view) .30 Test point location 31 Path accuracy evaluation points for a rectangular reference path 32 Rectangular reference and attained paths showing evaluation planes 33 Path accuracy evaluation points for a ci
15、rcular reference path .34 Circular reference and attained paths showing evaluation planes . . . .35 I 21 22 23 24 25 26 27 Page Linear path accuracy definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Projection of attained path onto evaluation plane . . . . . . . .
16、 . . . . . . . . . . . . . . . . . . . . . 37 Deviation of an attained evaluation point relative to a given reference evaluation point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Deviation of multiple attained evaluation points relative
17、to the average attained position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39 Corner radius concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Cornering overshoot . . . . . . . . . . . . . . 41 Path speed characteristics, . . . , . . .
18、. . 42 Tables 1 Standard test load categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 2 Sample performance data report format . . . . . . . . . . . . . . 4 Annex A Comparison of this standard with IS0 9283 (informative). . . . . . . . 43 B Bibliogr
19、aphy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Foreword (This foreword is not part of American National Standard ANSVRIA R15.05-2-1992.) The information contained in this foreword should not be considered part of the standard. It has been included for
20、 clarification and guidance purposes only. This standard is intended to provide meaningful technical information to help robot users select the best robot for their specific applications. It defines the most important path-related performance criteria and a method for evaluating these criteria. Thes
21、e criteria are. relative path accuracy, absolute path accuracy, path repeatability, path speed characteristics and cornering deviations. These are felt to represent the best indication of the overall path-related performance of industrial robots. In order to achieve this means of relative comparison
22、 of robots, standard test conditions and standard test paths are used. The results do have limi- tations and should be supplemented with additional engineering informa- tion when considering detailed systems specifications and designs The concept of “Performance Classes” is also used in a similar ma
23、nner as originally introduced in ANSVRIA R15.05l-1990. These Classes are used to determine the robot performance when used at rated capacity, to opti- mize maximum cyclic rate, to optimize path control or optimize other spe- cific criteria important for certain applications Additionally, in order to
24、 facilitate comparisons of like robots, standard test loads and load offsets are used in a like fashion similar to those originally introduced in the ANSVRIA R15.05-l-1990 standard This standard is not a safety standard and, therefore, does not directly address the safety issues related to robot per
25、formance and operation It is the responsibility of whomever uses this standard to consult and utilize appropriate safety standards and health practices Care should be exercised in the interpretation of the results determined by this standard. Many of the parameters as measured using the guidelines d
26、escribed in this standard may change during the life of the robot The manufacturer should be consulted regarding performance warranties cov- ering the life of the robot. Use of industry standards, including this standard, is voluntary. The Robotic Industries Association makes no determination with r
27、espect to whether any robot, manufacturer, or user is in compliance with this stan- dard Suggestions for improvement of this standard are welcome They should , be sent to Subcommittee R15.05 - Performance, Robotic Industries Association, P.O. Box 3724, Ann Arbor, Ml 48106. This standard was processe
28、d and approved for submittal to ANSI by the RIA standards Approval Committee, using the accredited organization method At the time the standard was approved, the RIA standards Approval Committee had the following members Organization Represented Name of Representative A 0 Smith/Automotive Products C
29、ompany Richard R Lefevre ABB Robotics, Inc Mark L. Hornick III OfganiZatiOn R8pr8S8nted Name of Representative Aluminum Company of America Howard Kutcher Kenneth Lauck Boeing Commercial Airplane Group . Craig Battles Caterpillar . Ken Bixby CIMCORP Precision Systems Albert J. Sturm, Jr. Data Instrum
30、ents, Inc. . Roberta Nelson Deneb Robotics . Victor Rhoder FANUC Robotics North America, Inc Hadi A. Akeel Marc Leopold (Alt.) Ron D. Massar (Alt.) Steve Walsh (Alt.) Michael Wodzinski (Alt.) Ford Motor Company . Neal Laurance General Motors Corporation . Larry J. Morel IBM Corporation Jerry Quint R
31、obert L. Hooper, Jr. (Alt.) KOHOL Systems, Inc . Vernon L. Mangold, Jr. Lehigh University . N. Duke Perreira National Electrical Manufacturers Association Frank K. Kitzantides Olflex Wire and Cable Peter Deschner PanasonicIMIERL . Akira Numata Robodyne Corporation . .:I 1 Jo e Alvite Robotic Industr
32、ies Association . .James A Peyton Sandia National Laboratories .I . . Be n J. Petterson Seiko Instruments (USA), Inc . Michael T McCraley UMI Micobot, Inc . . . . . Georg e Emanoil University of Southern California . . Mansour Rahimi University of Tennessee . . . :I Stanley E Becker Subcommittee R15
33、.05 had the following members at the time it processed and submitted this standard to ANSI for approval as an American National Standard. Tom Helzerman, Chair Steve Walsh, Vice Chair D. Scott Ackerson Nicholas Dagalakis, Ph.D. Stefan Larsson Eugene Rivin, Ph.D Mark Saberton Albert Sturm Jim Wells Mi
34、chael Wodzinski Administrative services were provided by James M. Prange, James A. Peyton and Sharon A Myers of the Robotic Industries Association Figures courtesy of Ford Motor Company, Metron, Inc , and FANUC Robotics, North America, Inc. iv AMERICAN NATIONAL STANDARD ANSVRIA R15.052-1992 American
35、 National Standard for Industrial Robots and Robot Systems - Path-Related and Dynamic Performance Characteristics - Evaluation 1 Scope, purpose, and exclusions 1.1 Scope This standard is intended to facilitate under- standing between manufacturers and users of industrial robots and industrial roboti
36、c sys- tems. It defines the fundamental dynamic path-related performance characteristics and provides a method to quantify dynamic perfor- mance. Included in this method are perfor- mance classes, standard test paths and stan- dard test loads Means of measuring these performance criteria are not des
37、cribed in this standard. Specific application testing is not addressed. No attempt has been made to address orien- tation errors directly. The effects of such errors are indirectly measured through the use of axial and radial offsets Orientation errors will result in deviations in the position of th
38、e measurement point This standard is not a safety standard and therefore does not directly address the safety issues related to robot performance and oper- ation. It is the responsibility of whomever uses this standard to consult and utilize appropriate safety standards and health practices. NOTES 1
39、 For the purpose of the remaining clauses of this standard, the term robot will mean industrial robot or industrial robotic system 2 The use of ANSI/RIA R15.05-l-1990 in con- junction with this standard is recommended 1.2 Purpose The purpose of this standard is to provide meaningful technical inform
40、ation that robot users can apply in the selection of the proper robot for their specific applications. This standard has been developed to provide information which can facilitate the compari- son of the performance of different robots. 1.3 Exclusions This standard applies to the dynamic path- relat
41、ed performance of robots only and is not intended to apply to the following: - Robot static performance; - Specific application robot tests; - Automatic guided vehicles and systems; - Automatic conveyors and shuttle sys- tems, - Mobile robots, - Tele-operators; - Prosthetic and other aids for the ha
42、ndi- capped, - Automated storage and retrieval sys- tems; - Numerically controlled machine tools; - Personal robots; , *q - Undersea and space robots, This list is not intended to be all inclusive 2 Normative references The following standards contain provisions which, through reference in this text
43、, constitute provisions of this American National Standard At the time of publication, the editions indicated 1 ANSPRIA R15.05-2-1992 were valid. All standards are subject to revi- sion, and parties to agreements based on this standard are encouraged to investigate the possibility of applying the mo
44、st recent editions of the standards indicated below. ANSI/RIA R15.05l-1990, American National Standard for Industrial Robots and Robot Systems - Point-to-Point and Staf;c Performance Characteristics - Evaluation ANSURIA f?15.06-f992, American Nationa/ Standard for Industrial Robots and Robot Systems
45、 - Safety Requirements ISO/TR 8373, Manipulating Industrial Robots - Vocabu/aryi)+z) IS0 9283-l 990, Manipulating Industrial Robots - Performance Criteria and Related Test Methods) IS0 9787-1990, Manipulating industrial Robots - Coordinate Systems and Motions) 3 Definitions For the purposes of this
46、standard, the following definitions apply. 3.1 accuracy: A measure of toe deviation between the reference characteristic and the attained characteristic. 3.2 axis acceleration: The maximum accel- eration that a particular axis can attain, when the robot is loaded with the “rated” payload 3.3 axis sp
47、eed: The maximum speed that a particular axis can attain, when the robot is loaded with the “rated” payload. 3.4 cycle: A single execution of a complete set of moves and functions contained within a robot program 3.5 cycle time: A measure of the time it takes a robot to move through a defined series
48、 of motions, with a defined payload 3.6 duty cycle: The percentage of time a robot can continuously operate with the rated payload at rated conditions (for example speed, acceleration and temperature) without overheating or degradation of the robot This is a manufacturer recommendation. 3.7 dynamic:
49、 A state in which an entity changes with time. 3.8 figure of merit (FOM): Values, deter- mined through testing, which quantify a partic- ular performance parameter. For example, the maximum and the average are two figures of merit which quantify the relative path accuracy. These figures of merit are presented in table 2. 3.9 industrial robot: A reprogrammable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks. 3.10 industrial robot systems: A “robot system” include
