Kalibreringsstation : Kalibrering av pallgafflar
Sammanfattning: The work is about designing a calibration station as an integral component of a company's existing product. The product is a robotic cell that automates the production of pallets. The purpose of the calibration station is to rectify an angular error that occurs on the pallet forks, which is mounted on the robot's tool, whose task is to lift and stack the pallets the robot cell manufactures. The company has theories as to why the angular error occurs and believes that there are a number of factors that influence. The purpose of the calibration station is to be able to calibrate the pallet forks when an angular error occurs and to correct all rotations and translations within an approved tolerance. Methods used to carry out the work are to study the problem and investigate how others have solved similar problems and to gather knowledge in the area of calibration. The calibration station design and sensors are evaluated and discussed to determine which sensor and design will solve the task. Algorithms are programmed to find, calculate and correct angular errors that have occurred. The result of the calibration station that has been designed shows that it works for angular errors less than ten degrees in rotation and for translation in millimeters. After a calibration has been performed on the pallet forks, the result of the calibration falls within the requirements of the tolerances specified in the work. The work concludes with an evaluation of how the calibration station can be developed to perform better.
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