The Research Of Test Bench For Robot Joint Performance Test

The research of robot is always one of the most active area in the development of technology. Being the key part of robot, the capability of robot joint has direct effect on the performance of robot. Therefore, the performance test of robot joint is becoming more and more important.In this paper, the composition of robot joint is introduced and the test bench based on the VI(virrual instrument) is designed for the performance test of robot joint. Based on those researches, the test bench is improved in order to meet the requirements of rigidity performance test for robot joint and is made into the test bench for rigidity performance test of robot joint. The comprehensive properties of robot joint are evaluated by accurately measuring of static and dynamic performance parameters so as to accurately position the designed robot joint and provide reliable basis for the design of robot joint. This test bench adopts photoelectric coder to indirectly acquire the speed of robot joints. Photoelectric coder can acquire the speed performance of robot joint at high speed, while it is not accurate enough at low speed. Kalman filtering algorithm is used to efficiently estimate at low speed of robot joint. Based on the simulation in Matlab environment and testing of test bench, the results show that it can improve the speed and position accuracy of static and dynamic performance test for robot joint by adopting Kalman filtering at low speed as aided detection.The differences of this test bench compared with traditional test bench are that it can not only test the performance of robot joint at ordinary temperatures but also guarantee the testing reliability of performance measurement for robot joint at the alternating temperature of space low orbit. The test bench is modified to meet the requirements of rigidity performance test for robot joint avoiding the individually test in order to achieve the purpose of multi-use of one machine. This test bench is synthetically analyzed using analysis software ANSYS. The testing results indicate that this test bench can guarantee the testing accuracy of robot joint at ordinary temperatures and alternating temperatures of space low orbit.