Factors that Decide and Influence Accuracy and Repeatability

TOKYO, Japan - April 29, 2024 - PRLog -- Robot repeatability is achieved when the main components of an industrial robot operate together. These include the gears, controller, motors, and axes. The gears of a robot's joints play the biggest role when it comes to determining a robot's precision. Robot's with small and rigid gearboxes typically have a lower margin of error.

Reducer backlash, sensor and servo precision are some of the factors influencing robot repeatability. The major contributing factors that most influence repeatability are within the mechanics of the drive system, say the precision of the bearing ways and the backlash in the system. Repeatability affects how identical parts may differ slightly.

There are many factors that contribute to the accuracy of a system, the most significant ones are the mechanical factors such as backlash, "windup" (lack of torsional stiffness), and flexing of components, the accuracy of the motor. The backlash exists in gear mechanisms, and in actuators of hydraulic drives.

The final accuracy of a robotic system depends on its mechanical inaccuracies, the computer control algorithms, and the system resolution. The mechanical inaccuracies are caused mainly by backlash in the manipulators joints and bending of the links.

A higher rigidity of the links should not be achieved by a substantial increase in their mass. A larger mass causes an increase in the time response of the arm.

On the electrical side, the bandwidth of the control system and the resolution of the measuring system (encoder or resolver) can also affect the accuracy of the drive's movement,

Also, accuracy is affected by external factors and can vary with speed and position within the working envelope and with payload. Repeatability can also be affected by changes in the system, such as expansion or contraction of components due to temperature fluctuations. While accuracy can be compensated for by programming within the drive amplifier and control, repeatability generally cannot be.

A robot's inaccuracy is attributed to three main factors:

Joint errors; Kinematic errors; Non-kinematic errors: the mechanical aspect of the robot's parts, including the links and the gearboxes.

Repeatability and accuracy are key for determining how successful a robotic application will be.

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