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The variations of actual and roboguide

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Frankie Ellis

Hi all,

I am having an issue that while working on the hemming application through FANUC 210F Robot. While simulation was in progress in the RoboGuide software doing the corner hemming I am using the 150mm per second speed and it is resulting with fine outcome. However, when i am onsite, the robot is getting vibrations  while with same speed of 150 mm per second. For its avoidance, i have reduced the speed and by doing so the impact over my cycle time is happening. Now I am in search of a way to reduce the vibrations but using same 150 mm per second. Do i need to change any parameter or what i need to do?

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    Toby cooke
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    Hello , 

    Can you confirm it is generating vibration at all areas or only on particular portion only ?

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    Toby cooke
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    I think you need check the frame which is indexed to the body of your part. If it is not fixed rigidly , you may encounter the vibration. 

    Check this video for hemming operation how they are performed without any vibration . Compare it with your system and if you find any portion requires more rigidness try it . 

    https://www.youtube.com/watch?v=LmaFYuo92s0

     

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    Muhammad Ishaq
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    Hi Miss Ellis,

    I am not sure whether I would be helpful in this case but I could recall a memory. One of my friends was working on a robot which was doing de-burring and he was having some serious issues getting hte robot to work in circles and and then working in straight line after changes were made in its direction. The programming was perfect in the RoboGuide software but because of the imperfections that existed physically reality was a bit different. My friend has fixed the problem through fixing backlash compensation along with another parameter, which is i think the Coulomb friction gain. However, I am not sure about the Coulomb's friction gain. Because of this, there has been an improvement to some extent.

    Your problems is of vibrations only? Is robot following correct path?

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    Frankie Ellis
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    yes. it is on its path but has abundant vibrations

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    Chang Thriving
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    Dear Frankie,

    I wanted to ask if your payload is set at accurate values and the gripper is rigid? Is the gripper of robot vibrating?

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    Frankie Ellis
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    Exactly, payload s accurate and gripper also fixed properly

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