Test Stand for the Evaluation of appropriate Drives focusing on a highly-flexible Robot Manipulator

Flexible production sites will become increasingly important in the future. In order to open up this path for SMEs as well as for larger companies, solutions are needed that do not rely on expensive special machines and can be used universally in a wide variety of application areas such as separation or sorting. For a highly flexible gripper with sensory capabilities, which is currently under development by the Fraunhofer IFF, suitable drives have to be identified that would meet all the required specifications and at the same time allow a low price of the final product. This paper describes an universal test setup that can be used to evaluate combinations of motors and gearboxes from different manufacturers and product lines for their suitability for use in a robotic gripper. The measurement procedure is divided into three parts: determination of the motor constant, torque accuracy and the positioning accuracy of the complete drive. The method as well as the results fr om the investigation of a motor-gearbox combination are presented.