ANSI-RIA-R15.05-2-1992-R1999.pdf
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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 Copyright American National Standards Institute Provided by IHS under license with
2、ANSI Licensee=USN Ship Repair Facility Yokosuka/9961031100 Not for Resale, 05/08/2007 20:17:21 MDTNo reproduction or networking permitted without license from IHS -,-,- ANSVRIA R15.05-2-1992 American National Standard for Industrial Robots and Robot Systems - Path-Related and Dynamic Performance Cha
3、racteristics - Evaluation Secretariat Robotic Industries Association Approved September 14, 1992 American National Standards Institute, Inc. Copyright American National Standards Institute Provided by IHS under license with ANSI Licensee=USN Ship Repair Facility Yokosuka/9961031100 Not for Resale, 0
4、5/08/2007 20:17:21 MDTNo reproduction or networking permitted without license from IHS -,-,- American Approval of an American National Standard requires verification by ANSI that the requirements for due process, consensus, and other criteria for National wp roval have been met by the standards deve
5、loper. 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 agreement means much more than a simple majority, but not necessarily unanimity. Consensus requires
6、 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 preclude anyone, whether he has approved the standards or not, from manufacturing, market
7、ing, 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 interpretation of any American National Standard. Moreover, no person shall have the right or author
8、ity 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 whose name appears on the title page of this standard. CAUTION NOTICE: This American National Sta
9、ndard 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 of American National Standards may receive current information on all standards by calling o
10、r 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 Institute All rights reserved. No part of this publication may be reproduced in any form, in an electr
11、onic retrieval system or otherwise, without prior written permission of the publisher Printed in the United States of America APS3C393158 Copyright American National Standards Institute Provided by IHS under license with ANSI Licensee=USN Ship Repair Facility Yokosuka/9961031100 Not for Resale, 05/0
12、8/2007 20:17:21 MDTNo reproduction or networking permitted without license from IHS -,-,- Contents Page Foreword. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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 Abbr
13、eviations and symbols . . . 5 Coordinate systems 5 Basic robot mechanical configurations . . . Standard test conditions . . . .8 Performance classes - path related. 11 Performance criteria - path related . . . . . . . Recommended specifications. . Testing . . . . . . . . . . . . . . . . . . . . . .
14、. . . 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 Coordinate system types Working space center point Axis numbering examples . Cartesian mechanical configuration Cylindrical mechanical configuration
15、Spherical mechanical configuration . . . . . . . . . . . . . . l 1 . . . . . . . . 17 . . . . . . . . . . . 18 . . . . . . . . . . 20 20 .21 21 Vertically articulated mechanical configuration . . . . . . . 26 Horizontally articulated mechanical configuration . . . . . . . . .27 Roll, pitch and yaw.
16、. . . . . . . . . . . . . . . . .28 Standard test plane location . . . . . . . . . 28 Standard test path location in working space. 29 , -, Exception standard test plane location example . . . . . . . 29 Standard test path characteristics (plan view) .30 Test point location 31 Path accuracy evaluati
17、on points for a rectangular reference path 32 Rectangular reference and attained paths showing evaluation planes 33 Path accuracy evaluation points for a circular reference path .34 Circular reference and attained paths showing evaluation planes . . . .35 I Copyright American National Standards Inst
18、itute Provided by IHS under license with ANSI Licensee=USN Ship Repair Facility Yokosuka/9961031100 Not for Resale, 05/08/2007 20:17:21 MDTNo reproduction or networking permitted without license from IHS -,-,- 21 22 23 24 25 26 27 Page Linear path accuracy definition . . . . . . . . . . . . . . . .
19、. . . . . . . . . . . . . . . . . . . . 36 Projection of attained path onto evaluation plane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Deviation of an attained evaluation point relative to a given reference evaluation point . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20、 . . . . . . . . . . . . . . . . . . . . . . . 38 Deviation of multiple attained evaluation points relative to the average attained position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39 Corner radius concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
21、. . . . . . 40 Cornering overshoot . . . . . . . . . . . . . . 41 Path speed characteristics, . . . , . . . . . 42 Tables 1 Standard test load categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 2 Sample performance data report format . . . . . . .
22、. . . . . . . 4 Annex A Comparison of this standard with IS0 9283 (informative). . . . . . . . 43 B Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 Copyright American National Standards Institute Provided by IHS under license with ANSI Licensee
23、=USN Ship Repair Facility Yokosuka/9961031100 Not for Resale, 05/08/2007 20:17:21 MDTNo reproduction or networking permitted without license from IHS -,-,- Foreword (This foreword is not part of American National Standard ANSVRIA R15.05-2-1992.) The information contained in this foreword should not
24、be considered part of the standard. It has been included for 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 performan
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