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The linear joint (type L) of a certain industrial robot is actuated by a piston mechanism. The length of
the joint

Answer

when fully retracted is 500 mm and when fully extended is 850 mm. If the robot's controller has an
8-bit storagecapacity, determine the control resolution for this robot.

Solution: Range L = 850 mm - 500 mm = 350 mm. Given: n = 8 bit storage capacity

Control resolution CR = 28 1

= 350

255

= 1.37 mm

In the previous problem, the mechanical errors associated with the linear joint form a normal
distribution in thedirection of the joint actuation with standard deviation = 0.08 mm. Determine
(a)spatial resolution, (b)accuracy, and (c) repeatability for the robot.

Solution: Refers to Problem 7.30. Additional data: σ = 0.08 mm.

Spatial resolution SR = 1.57 + 6(.08) = 2.05 mm

Accuracy = 3

CR + σ = 157

. + 3(0.08) = 1.025 mm

Repeatability = ± 3σ = ± 3(0.08) = ± 0.24 mm

The revolving joint (type V) of an industrial robot has a range of 240° rotation. The mechanical errors
in the
joint and the input/output links can be described by a normal distribution with its mean at any given
addressablepoint, and a standard deviation of 0.25°. Determine the number of storage bits required
in the controller memoryso that the accuracy of the joint is as close as possible to, but less than, its
repeatability. Use six standarddeviations as the measure of repeatability.

Solution: Repeatability = 6σ = 6(0.25) = 1.5° and Accuracy = 0.5 SR = 0.5 CR + 3σ

Find bit storage capacity n so that 0.5 CR + 3σ = approx 6σ

Set (0.5 CR + 3σ) - 6σ = 0

0.5 CR = 3σ

CR = 6σ = 1.5°

2n = (240°)/(1.5°) = 160

n ln(2) = ln(160), 0.69315 n = 5.07517, n = 7.3 --> n = 8 bits

CR = (240°)/(28-1) = 240/255 = 0.9412°

Accuracy = 0.5(.9412) + 3(0.25) = 1.221° which is ≤ repeatability = 1.5°

A cylindrical robot has a T-type wrist axis that can be rotated a total of three rotations (each rotation
is a full360°). It is desired to be able to position the wrist with a control resolution of 0.5° between
adjacent addressablepoints. Determine the number of bits required in the binary register for that
axis in the robot's control memory.

Solution: Range L = 3(360°) = 1080°

Specification: CR = 0.5° or better, Find n

CR = 1080

2n −1

= 0.5°. Rearranging, 2n -1 = 1080/0.5 = 2160, 2n = 2161

n ln(2) = ln(2161), 0.69315 n = 7.6783, n = 11.08 --> n = 12 bits

One axis of an RRL robot is a linear slide with a total range of 950 mm. The robot's control memory
has an10-bit capacity. It is assumed that the mechanical errors associated with the arm are normally
distributed with amean at the given taught point and an isotropic standard deviation of 0.10 mm.
Determine (a) the controlresolution for the axis under consideration, (b) the spatial resolution for the
axis, (c) the defined accuracy, (d)the repeatability.
Solution: Joint range L = 950 mm

(a) CR = (950 mm)/(28-1) = 950/1023 = 0.929 mm

(b) SR = 0.929 + 6(.10) = 0.929 + 0.60 = 1.529 mm

Robotics-3e-SI 11-07, 07/06, 06/04/07, 09/09/07

56

(c) Accuracy = 0.5 SR = 0.764 mm

(d) Repeatability = ± 3σ = 6σ = 0.60 mm.

A TLR robot has a rotational joint (type R) whose output link is connected to the wrist assembly.
Consideringthe design of this joint only, the output link is 600 mm long, and the total range of
rotation of the joint is 40°.The spatial resolution of this joint is expressed as a linear measure at the
wrist, and is specified to be ±0.5 mm. Itis known that the mechanical inaccuracies in the joint result
in an error of ±0.018° rotation, and it is assumedthat the output link is perfectly rigid so as to cause
no additional errors due to deflection. (a) Determine theminimum number of bits required in the
robot's control memory in order to obtain the spatial resolutionspecified. (b) With the given level of
mechanical error in the joint, show that it is possible to achieve the spatialresolution specified.

Solution: SR = ±0.5 mm at end of output link. Mechanical errors = ± 0.018° = ± 3σ

(a) Converting spatial resolution to an angular measure, we get

SR = (1.0 x 360)/(2 x π x 600) = 0.0955°

SR = CR + 6σ. Rearranging, CR = SR - 6σ = 0.0955 - 2(.018) = 0.0595°

Given joint range L = 40°, CR = (40°)/(2n-1) = 0.0595°

2n - 1 = 40/0.0595 = 672.35, n ln(2) = ln(673.35), n = 9.395 → 10 bits

(b) It is therefore possible to achieve the spatial resolution specified