7528%/(6+227,1*
0$,17(1$1&(
%(1
%$&./$6+0($685(0(17
0HDVXUHPHQWPHWKRG
1.
2.
3.
Maintain the robot in a specified posture. (See Table 4.3 (a) and (b).)
Apply positive and negative loads to each axis as shown in Fig. 4.3 (a).
Remove the loads and measure the displacement.
Calculate the backlash using the following expression.
㪪㫋㫆㫇㩷㫇㫆㫊㫀㫋㫀㫆㫅
㪇
㪂㪈㪇㫂㪾㪽
㪝㫀㫉㫋㫊㫋㩷㫊㫋㪼㫇
㩿㪛㫆㩷㫅㫆㫋㩷㫄㪼㪸㫊㫌㫉㪼㪀
㪄㪈㪇㫂㪾㪽
㪂㪈㪇㫂㪾㪽
㪇㫂㪾㪽
㪣㪈
㪄㪈㪇㫂㪾㪽
㪪㪼㪺㫆㫅㪻㩷㫊㫋㪼㫇
㩿㪙㩷㪔㪣㩷㪂㩷㪣㩷㪀
㪉
㪈
㪉
㪽
㪣㪉
㪂㪈㪇㫂㪾㪽
㪇㫂㪾㪽
㪣㪊
㪫㪿㫀㫉㪻㩷㫊㫋㪼㫇
㩿㪙㩷㪔㪣㩷㪂㩷㪣㩷㪀
㪋
㪊
㪊
㪄㪈㪇㫂㪾㪽
㪇㫂㪾㪽
㪣㪋
)LJ D %DFNODVK0HDVXUHPHQW0HWKRG
Backlash B is represented by the following expression.
B=
(a) + (b)
2
127(
8VHGLDOJDXJHDQGEDODQFHRIVSULQJ
- 29 -
7528%/(6+227,1*
0$,17(1$1&(
%(1
0HDVXUHPHQWSRVLWLRQ
,CZKUOGCUWTGOGPVRQUVWTG
,CZKUOGCUWTGOGPVRQUVWTG
%GPVGTQHYTKUV
OQWPVKPIRCTV
GPFGHHGEVQT
㪼㫅㪻㩷㪼㪽㪽㪼㪺㫋㫆㫉
㪣㫆㪸㪻㫀㫅㪾㩷㫇㫆㫊㫀㫋㫀㫆㫅
㪫㫉㪼㫊㫋㫃㪼
㪮㪿㪼㫅㩷㫄㪼㪸㫊㫌㫉㫀㫅㪾㩷㪹㪸㪺㫂㫃㪸㫊㪿㪃㫇㫉㪼㫊㫊
㪾㪸㫌㪾㪼㩷㫋㫆㩷㫋㪼㫊㫋㩷㫎㫆㫉㫂㩷㫍㪼㫉㫋㫀㪺㪸㫃㫃㫐㪅
䎖䎓䎙䎚
㪼㫅㪻㩷㪼㪽㪽㪼㪺㫋㫆㫉
㪫㫉㪼㫊㫋㫃㪼
㪚㪼㫅㫋㪼㫉㩷㫆㪽㩷㫄㫆㫌㫅㫋㫀㫅㪾
㪽㪸㪺㪼㩷㫆㪽㩷㫎㫉㫀㫊㫋
㪣㫆㪸㪻㫀㫅㪾㩷㫇㫆㫊㫀㫋㫀㫆㫅
㪮㪿㪼㫅㩷㫄㪼㪸㫊㫌㫉㫀㫅㪾㩷㪹㪸㪺㫂㫃㪸㫊㪿㪃㫇㫉㪼㫊㫊
㪾㪸㫌㪾㪼㩷㫋㫆㩷㫋㪼㫊㫋㩷㫎㫆㫉㫂㩷㫍㪼㫉㫋㫀㪺㪸㫃㫃㫐㪅
,CZKUOGCUWTGOGPVRQUVWTG
,CZKUOGCUWTGOGPVRQUVWTG
㪮㪿㪼㫅㩷㫄㪼㪸㫊㫌㫉㫀㫅㪾㩷㪹㪸㪺㫂㫃㪸㫊㪿㪃㫇㫉㪼㫊㫊
㪾㪸㫌㪾㪼㩷㫋㫆㩷㫋㪼㫊㫋㩷㫎㫆㫉㫂㩷㫍㪼㫉㫋㫀㪺㪸㫃㫃㫐㪅
㪼㫅㪻㩷
㪫㫉㪼㫊㫋㫃㪼 㪼㪽㪽㪼㪺㫋㫆㫉
=5VCPFCTFVTGUVNG?
㪣㫆㪸㪻㫀㫅㪾㩷㫇㫆㫊㫀㫋㫀㫆㫅
䎕䎖䎓
䎕䎛䎓
㪼㫅㪻㩷㪼㪽㪽㪼㪺㫋㫆㫉
㪫㫉㪼㫊㫋㫃㪼
㪣㫆㪸㪻㫀㫅㪾㩷㫇㫆㫊㫀㫋㫀㫆㫅
)CWIG
)CWIG
䎘䎙
䎔䎖䎛
㪮㪿㪼㫅㩷㫄㪼㪸㫊㫌㫉㫀㫅㪾㩷㪹㪸㪺㫂㫃㪸㫊㪿㪃㫇㫉㪼㫊㫊
㪾㪸㫌㪾㪼㩷㫋㫆㩷㫋㪼㫊㫋㩷㫎㫆㫉㫂㩷㫍㪼㫉㫋㫀㪺㪸㫃㫃㫐㪅
䎾䎰䎐䎗䎔䎓䏌䎥䎒䎔䎙䎓䏀
䎾䎰䎐䎗䎔䎓䏌䎥䎒䎖䎓䎓䏀
)LJ E %DFNODVK0HDVXUHPHQW3RVWXUH
7DEOH D 0HDVXUHPHQWSRVWXUHDQGWROHUDQFHYDOXHRIEDFNODVK 0i% 0HDVXUHGD[LV
-D[LV
-D[LV
-D[LV
-D[LV
-D[LV
{
{
{
{
3RVWXUH
-D[LV
-D[LV
{
{
{
{
{
{
{
{
-D[LV
{
{
{
{
7ROHUDQFH
YDOXH
7DEOH D 0HDVXUHPHQWSRVWXUHDQGWROHUDQFHYDOXHRIEDFNODVK 0i% 0HDVXUHGD[LV
-D[LV
-D[LV
-D[LV
-D[LV
-D[LV
{
{
{
{
3RVWXUH
-D[LV
-D[LV
{
{
{
{
{
{
{
{
-D[LV
{
{
{
{
7ROHUDQFH
YDOXH
127(
:KHQPHDVXULQJEDFNODVKXQGHUFLUFXPVWDQFHVZKHUHWKHGLVWDQFHEHWZHHQWKH
URWDWLRQFHQWHUDQGWKHGLDOJDXJHRULVGLIIHUHQWIURPWKRVHLQWKHDERYHWDEOHPDNH
DQJOHDQGGLVSODFHPHQWFRQYHUVLRQVDFFRUGLQJWRWKHWDEOH
- 30 -