Abstract: An inspection method for a speed variator including a first gear and a second gear includes obtaining a first position of the first gear based on a contact between a first gear tooth of the first gear and a third gear tooth of the second gear, driving the first gear to rotate in a first direction to bring a second gear tooth of the first gear into contact with the third gear tooth, obtaining a second position of the first gear based on a contact between the second gear tooth and the third gear tooth, and determining a condition of the speed variator based on the first position and the second position. Also, an inspection device is provided.

Abstract: An inspection method for a speed variator including a first gear and a second gear includes obtaining a first position of the first gear based on a contact between a first gear tooth of the first gear and a third gear tooth of the second gear, driving the first gear to rotate in a first direction to bring a second gear tooth of the first gear into contact with the third gear tooth, obtaining a second position of the first gear based on a contact between the second gear tooth and the third gear tooth, and determining a condition of the speed variator based on the first position and the second position. Also, an inspection device is provided.

Abstract: A calibration method for a coordinate system of a workpiece held by a robot manipulator, which includes the following steps: setting a predicted coordinate system on the workpiece; controlling the drive mechanism to drive the workpiece to move a specific distance along a coordinate axis in the predicted coordinate system and measuring the distance change of the workpiece in a direction perpendicular to the move; using the measured distance change to determine an orientation error between the predicted coordinate system and the actual coordinate system; correcting the orientation parameters of the predicted coordinate system; controlling the drive mechanism to drive the workpiece to rotate by a specific angle around a coordinate axis of the predicted coordinate system and measuring the distance change after being rotated; using the measured distance change to determine a position error; correcting the position parameters of the predicted coordinate system.

Abstract: A calibration method for a coordinate system of a workpiece held by a robot manipulator, which includes the following steps: setting a predicted coordinate system on the workpiece; controlling the drive mechanism to drive the workpiece to move a specific distance along a coordinate axis in the predicted coordinate system and measuring the distance change of the workpiece in a direction perpendicular to the move; using the measured distance change to determine an orientation error between the predicted coordinate system and the actual coordinate system; correcting the orientation parameters of the predicted coordinate system; controlling the drive mechanism to drive the workpiece to rotate by a specific angle around a coordinate axis of the predicted coordinate system and measuring the distance change after being rotated; using the measured distance change to determine a position error; correcting the position parameters of the predicted coordinate system.

Abstract: A vision correction method for establishing the position of a tool center point (TCP) for a robot manipulator includes the steps of: defining a preset position of the TCP; defining a preset coordinate system TG with the preset position of the TCP as its origin; capturing a two-dimensional picture of the preset coordinate system TG to establish a visual coordinate system TV; calculating a scaling ratio ? of the vision coordinate system TV relative to the preset coordinate system TG; rotating the TCP relative to axes of the preset coordinate system TG; capturing pictures of the TCP prior to and after rotation; calculating the deviation ?P between the preset position and actual position of the TCP; correcting the preset position and corresponding coordinate system TG using ?P, and repeating the rotation through correction steps until ?P is less than or equal to a maximum allowable deviation of the robot manipulator.

Abstract: A calibration method for calibration a tool center point for a robot manipulator includes the steps of: driving the tool to move above one of the inclined surfaces; defining a preset coordinate system TG; rotating the TCP relative to the UG-axis by about 180 degrees, calculating the value of ?w; updating the position parameters of the preset TCP, defining a new preset coordinate system TG?; rotating the TCP relative to the UG?-axis by about 90 degrees, calculating the value of ?v; updating the position parameters of the new preset TCP, defining a new preset coordinate system TG?; driving the tool to move above a planar horizontal surface; rotating the TCP relative to a axis by about 30 degrees, calculating the value of ?u; repeating the aforementioned steps until the deviation ?P (?w, ?v, ?u) is less than or equal to a maximum allowable deviation of the robot manipulator.

Abstract: A calibration method for calibration a tool center point for a robot manipulator includes the steps of: driving the tool to move above one of the inclined surfaces; defining a preset coordinate system TG; rotating the TCP relative to the UG-axis by about 180 degrees, calculating the value of ?w; updating the position parameters of the preset TCP, defining a new preset coordinate system TG?; rotating the TCP relative to the UG?-axis by about 90 degrees, calculating the value of ?v; updating the position parameters of the new preset TCP, defining a new preset coordinate system TG?; driving the tool to move above a planar horizontal surface; rotating the TCP relative to a axis by about 30 degrees, calculating the value of ?u; repeating the aforementioned steps until the deviation ?P (?w, ?v, ?u) is less than or equal to a maximum allowable deviation of the robot manipulator.

Abstract: A vision correction method for establishing the position of a tool center point (TCP) for a robot manipulator includes the steps of: defining a preset position of the TCP; defining a preset coordinate system TG with the preset position of the TCP as its origin; capturing a two-dimensional picture of the preset coordinate system TG to establish a visual coordinate system TV; calculating a scaling ratio ? of the vision coordinate system TV relative to the preset coordinate system TG; rotating the TCP relative to axes of the preset coordinate system TG; capturing pictures of the TCP prior to and after rotation; calculating the deviation ?P between the preset position and actual position of the TCP; correcting the preset position and corresponding coordinate system TG using ?P, and repeating the rotation through correction steps until ?P is less than or equal to a maximum allowable deviation of the robot manipulator.

Abstract: An apparatus comprised of a power source, a set of primary loads, a set of life extension loads, and a controller. The power source is capable of supplying power and the set of primary loads is capable of being operated using the power. The set of life extension loads is capable of being operated using the power and capable of extending life of the set of primary loads. The controller is capable of controlling an operation of the set of primary loads and the set of life extension loads to optimize a total systems operating metric consisting of performance, energy use, and life to reduce a total cost.