Enhancement of positioning accuracy of industrial robots with a reconfigurable fine-positioning module

Conventional industrial robots achieve a high flexibility by low investment costs, but they are limited in absolute positioning accuracy. The costs for the introduction of a new special high precision robot for micro-handling are very high, where the workspace is limited to small areas. For handling...

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Published inPrecision engineering Vol. 34; no. 2; pp. 201 - 217
Main Authors Sulzer, Josef, Kovač, Igor
Format Journal Article
LanguageEnglish
Published New York, NY Elsevier Inc 01.04.2010
Elsevier
Subjects
Applied sciences
Automation
Costs
Exact sciences and technology
Fine-positioning module
Handling
Image processing
Industrial robots
Manufacturing engineering
Materials handling
Mechanical engineering. Machine design
Mechanical interface
Micro-handling
Modules
Precision engineering, watch making
Relative positioning
Robots
Scara Robot
Mechanical interface
Relative positioning
Micro-handling
Image processing
Fine-positioning module
Scara Robot
Positioning
Industrial robot
Position control
Precision engineering
High precision
Pattern recognition
Micromachine
Robotics
Micromanipulation
Microassembling
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Abstract Conventional industrial robots achieve a high flexibility by low investment costs, but they are limited in absolute positioning accuracy. The costs for the introduction of a new special high precision robot for micro-handling are very high, where the workspace is limited to small areas. For handling operations, best results according velocity, precision and costs can be achieved with SCARA-type robots. Therefore, the introduction of a fine-positioning module for the enhancement of positioning accuracy of robots in the micro-handling techniques, become indispensable. The most micro-handling systems on the market have been designed for individual work-pieces. With our proposed fine-positioning module, we get a reconfigurable robot system for the execution of different handlings tasks both in the micro- and meso-scale 2 2 Micro-scale: typical part dimensions are in the range sub-millimeters up to a few millimeters with part features in the micrometer range, as a reference: the meso-domain is defined as products fitting in a box of 200 × 200 × 200 mm 3. in the industrial automation. To increase the flexibility of the robot system, the handling system is equipped with a tool change system, which allows an automated couple of the fine-positioning module with the Scara Robot. At this robot system, the Scara Robot will be used for coarse movements, and the fine-positioning module for very accurate positioning tasks. The fine-positioning module is equipped with a microscope, which enables in combination with an image processing system relative positioning technique, object recognition and measurements simultaneously. Handling of micro-objects and measurements are the major operations, which can be executed by the fine-positioning module.
AbstractList Conventional industrial robots achieve a high flexibility by low investment costs, but they are limited in absolute positioning accuracy. The costs for the introduction of a new special high precision robot for micro-handling are very high, where the workspace is limited to small areas. For handling operations, best results according velocity, precision and costs can be achieved with SCARA-type robots. Therefore, the introduction of a fine-positioning module for the enhancement of positioning accuracy of robots in the micro-handling techniques, become indispensable. The most micro-handling systems on the market have been designed for individual work-pieces. With our proposed fine-positioning module, we get a reconfigurable robot system for the execution of different handlings tasks both in the micro- and meso-scale super(2) in the industrial automation. To increase the flexibility of the robot system, the handling system is equipped with a tool change system, which allows an automated couple of the fine-positioning module with the Scara Robot. At this robot system, the Scara Robot will be used for coarse movements, and the fine-positioning module for very accurate positioning tasks. The fine-positioning module is equipped with a microscope, which enables in combination with an image processing system relative positioning technique, object recognition and measurements simultaneously. Handling of micro-objects and measurements are the major operations, which can be executed by the fine-positioning module.
Conventional industrial robots achieve a high flexibility by low investment costs, but they are limited in absolute positioning accuracy. The costs for the introduction of a new special high precision robot for micro-handling are very high, where the workspace is limited to small areas. For handling operations, best results according velocity, precision and costs can be achieved with SCARA-type robots. Therefore, the introduction of a fine-positioning module for the enhancement of positioning accuracy of robots in the micro-handling techniques, become indispensable. The most micro-handling systems on the market have been designed for individual work-pieces. With our proposed fine-positioning module, we get a reconfigurable robot system for the execution of different handlings tasks both in the micro- and meso-scale 2 2 Micro-scale: typical part dimensions are in the range sub-millimeters up to a few millimeters with part features in the micrometer range, as a reference: the meso-domain is defined as products fitting in a box of 200 × 200 × 200 mm 3. in the industrial automation. To increase the flexibility of the robot system, the handling system is equipped with a tool change system, which allows an automated couple of the fine-positioning module with the Scara Robot. At this robot system, the Scara Robot will be used for coarse movements, and the fine-positioning module for very accurate positioning tasks. The fine-positioning module is equipped with a microscope, which enables in combination with an image processing system relative positioning technique, object recognition and measurements simultaneously. Handling of micro-objects and measurements are the major operations, which can be executed by the fine-positioning module.
Author Sulzer, Josef
Kovač, Igor
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Issue 2
Keywords Mechanical interface
Relative positioning
Micro-handling
Image processing
Fine-positioning module
Scara Robot
Positioning
Industrial robot
Position control
Precision engineering
High precision
Pattern recognition
Micromachine
Robotics
Micromanipulation
Microassembling
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SubjectTerms Applied sciences
Automation
Costs
Exact sciences and technology
Fine-positioning module
Handling
Image processing
Industrial robots
Manufacturing engineering
Materials handling
Mechanical engineering. Machine design
Mechanical interface
Micro-handling
Modules
Precision engineering, watch making
Relative positioning
Robots
Scara Robot
Title Enhancement of positioning accuracy of industrial robots with a reconfigurable fine-positioning module
URI https://dx.doi.org/10.1016/j.precisioneng.2009.06.006
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Volume 34
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