STUDY THE EFFECT OF SPEED AND PAYLOAD ON THE REPEATABILITY OF ROBOT STAUBLI-TX40

Abstract

The repeatability of robot is often affected by process variables such as speed, payload, temperature… This study has investigated how process variables such as speed of the tool center and payload affect the repeatability.

The results of the study show that: Speed and payload affect significantly the repeatability of six-degree robot Staubli-TX40, especially when it carries weight and runs at high speed.

In the range of speed from 20% to 60%, the repeatability is stable and hardly affected by payload.