自主大臂展防爆喷涂机器人第三方测试数据
收藏资源简介：
该数据集主要面向自主大臂展防爆喷涂机器人手腕部负载、工作半径、手腕通孔内径及机器人位姿准确度和位姿重复性精度指标的验证，为验证自主大臂展防爆喷涂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；为验证自主大臂展防爆喷涂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；为验证自主大臂展防爆喷涂机器人手腕通孔内径指标，使用激光跟踪仪测试机器人手腕通孔内径；为验证自主大臂展防爆喷涂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、手腕通孔内径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、手腕通孔内径满足指标要求。数据于2025年4月29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，由芜湖赛宝机器人产业技术研究院有限公司工程师完成测试过程、数据处理及汇总，数据量为121.95MB。
This dataset is primarily intended for verifying the wrist load, working radius, inner diameter of the wrist through hole, pose accuracy and pose repeatability precision of the autonomous large-arm-span explosion-proof spraying robot. To verify the wrist load indicator of this robot, an electronic weighing scale was used to test the mass of the test load block installed on the robot's wrist, and a laser tracker was employed to record the end speed of the robot. During the test, the weight of the test load installed on the wrist when the robot operates at its rated speed is defined as the robot's wrist load capacity. To verify the working radius indicator, a laser tracker was used to test the robot's working radius. Under no-load condition, when all axes of the robot extend into a straight line, the maximum distance between the robot's end effector and the origin of the robot's base coordinate system is defined as the robot's working radius. To verify the inner diameter indicator of the robot's wrist through hole, a laser tracker was used to test the inner diameter of the wrist through hole. To verify the pose accuracy and pose repeatability precision, in accordance with Articles 7.2.1 and 7.2.2 of the national standard GB/T 12642-2013 "Performance Specifications and Test Methods for Industrial Robots", a laser tracker was used to collect the coordinate values of the robot's end effector at spatial points P1 through P5, and 30 sets of measurement data were recorded. Based on the aforementioned tests, data concerning the wrist load, working radius, inner diameter of the wrist through hole, as well as the robot's pose accuracy and pose repeatability precision were collected to form this test dataset. The dataset results demonstrate that the robot's wrist load, working radius and inner diameter of the wrist through hole meet the specified indicator requirements. The data was collected from Plant 3 of EFORT Intelligent Robotics Co., Ltd. between April 29 and April 30, 2025. The testing procedures, data processing and summarization work were completed by engineers from Wuhu Saibo Robotics Industrial Technology Research Institute Co., Ltd. The total data volume is 121.95 MB.
