Thermal Behaviour of Industrial Robots and Possibilities for Error Compensation

Improving robotic machining accuracy through experimental error investigation and modular compensation

“…Moreover, an influence which must not be neglected is temperature. Different materials with different coefficients are used within an industrial robot which leads to a deformation which is hard to predict [10]. Also the tool holder and spindle support compliance must be taken into account.…”

Effect of temperature variation on repeatability positioning of a robot when assembling parts with cylindrical surfaces

“…In many cases, a significant proportion of the factors affecting robot error is subjected to constant change, sometimes accidental, which leads to differences between the mathematical models and real characteristics [12,15]. Works can be found in the literature which are devoted to reducing robot errors by calibration, using laser and vision sensors placed at the end of the grip of the robot [7,13,32], selecting the optimal location in the robot workspace [17] and choosing the proper direction to get to the nominal position [16].…”

Modeling of forced convection heat transfer from the swing plate on an industrial robot

“…Thermal issue of an industrial robot has been of great interest for long time because unexpected temperature rise will not only have a negative effect on robot accuracy [1][2][3], but also result in failure of the temperature-sensitive components in a robot, for instance, motors and sealing [4,5]. This is particularly true for the cases of small robots which are usually limited in size, but having higher energy density than the large ones.…”