This article presents the fundamental principles of robot accuracy. It characterizes a modular robot, describes the measurement setup, and outlines the methodology for evaluating positioning accuracy across different configurations of the modular robot (four, five, and six modules) under varying loads of 6, 10, and 16 kg. An analysis was conducted on the impact of load changes on four- and five-module configurations, as well as the effect of configuration changes on the robot's performance with 6 and 10 kg loads. The findings indicate that both the number of modules and the load affect positioning accuracy. This article highlights the importance of selecting the optimal configuration based on planned industrial tasks to ensure the highest precision and operational efficiency.

Faculty of Mechanical Engineering University of Jan Evangelista Purkyne in Ustí nad Labem 40096 Ustí nad Labem Czech Republic

Institute of Mechanical Technology Poznan University of Technology 60 965 Poznan Poland

Zobrazit více v PubMed

Von Neumann J., Burks A.W. Theory of Self-Reproducing Automata. University of Illinois Press; Champaign, IL, USA: 1966.

Zhang C., Zhu P., Lin Y., Jiao Z., Zou J. Modular Soft Robotics: Modular Units, Connection Mechanisms, and Applications. Adv. Intell. Syst. 2020;2:1900166. doi: 10.1002/aisy.201900166. DOI

Cernohlavek V., Klimenda F., Houska P., Suszyński M. Vibration Measurements on a Six-Axis Collaborative Robotic Arm—Part I. Sensors. 2023;23:1629. doi: 10.3390/s23031629. PubMed DOI PMC

Suszyński M., Wojciechowski J., Żurek J. No Clamp Robotic Assembly with Use of Point Cloud Data from Low-Cost Triangulation Scanner. Teh. Vjesn. -Tech. Gaz. 2018;25:904–909. doi: 10.17559/TV-20160922092849. DOI

Wojciechowski J., Suszyński M. Optical scanner assisted robotic assembly. Assem. Autom. 2017;37/4:434–441. doi: 10.1108/AA-07-2016-068. DOI

Dai Y., Xiang C.-F., Liu Z.-X., Li Z.-L., Qu W.-Y., Zhang Q.-H. Modular Robotic Design and Reconfiguring Path Planning. Appl. Sci. 2022;12:723. doi: 10.3390/app12020723. DOI

Siciliano B., Khatib O. Robotics and the Handbook. Springer; Berlin/Heidelberg, Germany: 2016. pp. 1–6.

Liang G., Wu D., Tu Y., Lam T.L. Decoding Modular Reconfigurable Robots: A Survey on Mechanisms and Design. Int. J. Rob. Res. 2024 doi: 10.1177/02783649241283847. DOI

Yang G., Chen I.-M. Modular Robots: Theory and Practice. Springer; Singapore: 2022.

Liu Y., Li Y., Zhuang Z., Song T. Improvement of Robot Accuracy with an Optical Tracking System. Sensors. 2020;20:6341. doi: 10.3390/s20216341. PubMed DOI PMC

Külz J., Althoff M. Optimizing Modular Robot Composition: A Lexicographic Genetic Algorithm Approach; Proceedings of the 2024 IEEE International Conference on Robotics and Automation (ICRA); Yokohama, Japan. 13 May 2024; pp. 16752–16758.

[(accessed on 1 June 2023)]. Available online: https://www.themanufacturer.com/articles/modular-factory-software-robots-improve-automotive-productivity/

Pigozzi F., Tang Y., Medvet E., Ha D. Evolving Modular Soft Robots without Explicit Inter-Module Communication Using Local Self-Attention; Proceedings of the Genetic and Evolutionary Computation Conference; New York, NY, USA. 8 July 2022; pp. 148–157.

[(accessed on 1 June 2023)]. Available online: https://spectrum.ieee.org/modular-robots.

Althoff M., Giusti A., Liu S.B., Pereira A. Effortless Creation of Safe Robots from Modules through Self-Programming and Self-Verification. Sci. Robot. 2019;4:eaaw1924. doi: 10.1126/scirobotics.aaw1924. PubMed DOI

[(accessed on 1 June 2023)]. Available online: https://www.kuka.com/en-us/products/robotics-systems/good-to-know-industrial-robots.

[(accessed on 1 June 2023)]. Available online: https://azure.microsoft.com/pl-pl/resources/cloud-computing-dictionary/what-is-middleware.

[(accessed on 1 June 2023)]. Available online: https://electricalworkbook.com/degree-of-freedom-of-robot.

Płaczek M., Piszczek Ł. Testing of an Industrial Robot’s Accuracy and Repeatability in off and Online Environment. Eksploat. Niezawodn. 2018;20:455–464. doi: 10.17531/ein.2018.3.15. DOI

Żurek J., Wiśniewski M. Metodyka i warunki badań dokładności i powtarzalności pozycjonowania robota przemysłowego FANUC M-16iB. Technol. Autom. Montażu. 2013;1:31–34.

[(accessed on 1 June 2023)]. Available online: https://www.flipsnack.com/czasopismahoreca/nowoczesny_przemys-_-1-_1_2022.html.

[(accessed on 1 June 2023)]. Available online: https://eng.libretexts.org/bookshelves/mechanical_engineering/introduction_to_autonomous_robots_%28correll%29/02%3a_locomotion_and_manipulation/2.03%3a_degrees-of-freedom.