Utilization of an industrial robot with a force transducer equipment in measuring friction

Author

Korpiharju, P. ; Hanhi, K. ; Koivo, H.

Author_Institution

Tampere Univ. of Technol., Finland

fYear

1991

fDate

28 Oct-1 Nov 1991

Firstpage

1055

Abstract

A friction measurement facility specially applicable to the examination of elastomeric material friction properties has been developed. The facility consists of a Nokia Puma 560 FA industrial robot equipped with an R-FORCE force sensing system and an IIP Vectra computer. The mathematical models developed render a flexible, easily programmable way to measure static and dynamic friction properties of material pairs, with special attention to the repeatability of timing and speed control, as well as to the rapid measurement and control of loading force and friction force components. Friction phenomenon is discussed in general and the friction measurement apparatus and its principles are reviewed. The developed system and its software are introduced. Measurement results are presented

Keywords

computerised instrumentation; elastomers; force control; friction; industrial robots; mechanical variables measurement; transducers; velocity control; IIP Vectra; Nokia Puma 560 FA; R-FORCE; elastomeric material friction measurement; force transducer; friction force; industrial robot; loading force; repeatability; speed control; Computer industry; Electrical equipment industry; Force control; Force measurement; Friction; Mathematical model; Robot sensing systems; Service robots; Transducers; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on

Conference_Location

Kobe

Print_ISBN

0-87942-688-8

Type

conf

DOI

10.1109/IECON.1991.239145

Filename

239145