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Diplomarbeit 2003 (DA03): Arbeits-Archiv
 
DA Nls 03/2 - Fast and precise positioning with a robot
Studierende: Reto Keller, kelleret
  Simon Keller, kellesio

Betreuer: Einar Nielsen, nls
  Gion Baker, bke

The robot Microdelta, developed by the IMS ZHW (Institute fur mechatronische Systeme) in cooparation with CSEM (Centre Suisse d'Electronique et de Microtechnique SA), is a high precision and fast Delta robot.

The control software is fully written in Java. As operating system the QNX Neutrino realtime-system is used. The theoretical precision of the robot's axis positions are approximately 0.0001 mm, with a repetition accuracy of 0.002 mm. The absolute precision of the robot should reach 0.1 mm. The main goal of the work is to verify these values and create a program, which demonstrates the capabilities (accuracy and speed) of the robot.

The measurements allow the definition of the robot's accuracy as follows:

  • the resolution of the axis positioning of 0.0001 mm can be attained
  • the positioning accuracy of the motors are ?0.003 mm
  • an accuracy of ?0.01 mm for the synchronisation is possible. An alternative synchronisation procedure could improve this value in maximum by 100 times.

Due to problems with controlling computer's performance and the realtime behavior of the software, we've not been able to complete all goals that were intended.

A short demonstration shows the funtionality of the Microdelta-robot.

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