Print Email Facebook Twitter The Impact of Robot Accuracy Title The Impact of Robot Accuracy: Identification of contributors to dimensional variation of assembly products Author van der Horst, Joren (TU Delft Aerospace Engineering) Contributor Tonnaer, R. (graduation committee) Sinke, J. (mentor) Degree granting institution Delft University of Technology Programme Aerospace Engineering Date 2019 Abstract At this moment, industrial robot arms are increasingly used to automate manufacturing processes in the aerospace industry. However, these robot arms lack position accuracy to effectively mill parts or assemble products. In this work, this gap is investigated following two approaches; on one hand existing calibration methods of robot arms are evaluated. On the other hand, two methods to define the impact of the robot arm inaccuracy on final dimensional variance of assembly products are compared. It is concluded that at least three extensions to current calibration models improve the accuracy of industrial robot arms. Moreover, multiple advantages and drawbacks of two tolerance analysis methods are given. Subject RoboticsAccuracyCalibrationError compensationTolerance AnalysisDimensional VarianceAssembly VarianceIndustrial Robot Arms To reference this document use: http://resolver.tudelft.nl/uuid:e0fe11b4-eb88-4ebe-b95e-6bd92d2fc3cb Part of collection Student theses Document type master thesis Rights © 2019 Joren van der Horst Files PDF report.pdf 26.15 MB Close viewer /islandora/object/uuid:e0fe11b4-eb88-4ebe-b95e-6bd92d2fc3cb/datastream/OBJ/view