自主喷砂机器人第三方测试数据
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该数据集主要面向自主喷砂机器人手腕部负载、工作半径、防尘等级及机器人位姿准确度和位姿重复性精度指标的验证，为验证自主喷砂机器人手腕部负载指标，使用电子计重秤测试机器人手腕部负载块质量，使用激光跟踪仪记录机器人末端速度，试验中机器人达到机器人额定速度下的手腕部安装测试负载重量，即为机器人的手腕部负载能力；为验证自主喷砂机器人工作半径指标，使用激光跟踪仪测试机器人工作半径，试验中机器人在空载状态下，机器人各轴伸展成一条直线，末端能到达距离机器人基坐标系原点的最远距离，即为机器人的工作半径；为验证自主喷砂机器人位姿准确度和位姿重复性精度，依据国标GB/T 12642-2013《工业机器人性能规范及其试验方法》中第7.2.1条和第7.2.2条，使用激光跟踪仪测试机器人空间P1点到P5点的机器人末端点坐标值，记录30组测量数据；基于以上测试，获取手腕部负载、工作半径、防尘等级及机器人位姿准确度和位姿重复性精度数据，形成测试数据集，该数据集结果显示机器人手腕部负载、工作半径满足指标要求。数据于2025年4月28日至4月30日采集于埃夫特智能机器人股份有限公司3号厂房，整个测试过程由具备专业资质的芜湖赛宝机器人产业技术研究院有限公司的工程师团队独立执行，完成了测试过程、数据处理及汇总，数据量为128.54MB。
This dataset is primarily intended for verifying the core performance indicators of autonomous sandblasting robots, including wrist load capacity, working radius, dust protection rating, pose accuracy and pose repeatability precision. To verify the wrist load capacity indicator: An electronic weighing scale was used to measure the mass of the load blocks mounted on the robot's wrist, while a laser tracker recorded the end-effector speed of the robot. During the test, the maximum load weight that can be installed on the wrist under the robot's rated speed is defined as the robot's wrist load capacity. To verify the working radius indicator: A laser tracker was employed to test the robot's working radius. In the unloaded test state, all axes of the robot are extended into a straight line, and the farthest distance from the origin of the robot's base coordinate system reachable by the end-effector is defined as the robot's working radius. To verify the pose accuracy and pose repeatability precision: In accordance with Articles 7.2.1 and 7.2.2 of Chinese National Standard GB/T 12642-2013 "Performance Specifications and Test Methods for Industrial Robots", a laser tracker was used to collect the coordinates of the robot's end-effector at five spatial points (P1 to P5), and 30 sets of measurement data were recorded. Based on the aforementioned tests, data covering the performance indicators including wrist load capacity, working radius, dust protection rating, pose accuracy and pose repeatability precision were collected to form this test dataset. The dataset results demonstrate that the robot's wrist load capacity and working radius meet the specified indicator requirements. The data was collected from Workshop No. 3 of EFORT Intelligent Robot Co., Ltd. between April 28 and April 30, 2025. The entire test process, including test implementation, data processing and data summarization, was independently completed by an engineer team from Wuhu Saibo Robot Industrial Technology Research Institute Co., Ltd. with professional qualifications. The total data volume of this dataset is 128.54 MB.
