GB/T 12642-2013 in English

《GB/T 12642-2013工业机器人 性能规范及其试验方法》由TC591（全国机器人标准化技术委员会）归口，主管部门为中国机械工业联合会。
本标准规定了操作型机器人下列性能指标及其测试方法:
―――位姿准确度和位姿重复性;
―――多方向位姿准确度变动;
―――距离准确度和距离重复性;
―――位置稳定时间;
―――位置超调量;
―――位姿特性漂移;
―――互换性;
―――轨迹准确度和轨迹重复性;
―――重复定向轨迹准确度;
―――拐角偏差;
―――轨迹速度特性;
―――最小定位时间;
―――静态柔顺性;
―――摆动偏差。
对于某一具体机器人的试验,本标准并不规定应选择上述的哪些性能指标。本标准所述的试验项
目主要用于分析和检验某个机器人的指标,但也可用于样机试验、定型试验或验收试验。
为了对比不同机器人的性能指标,按照本标准的规定,下列参数必须相同:试验立方体的尺寸、试验用负载、试验速度、试验轨迹、试验循环和环境条件。
附录A 给出了用于位姿特性和轨迹特性进行对比测试时的具体参数。
本标准适用于ISO8373:1994中定义的所有工业机器人,本标准术语“机器人”指的是工业机器人。

Scope

This standard specifies the following performance indicators and test methods for manipulative robots: ——Pose accuracy and pose repeatability;——Multi-directional pose accuracy changes;——Distance accuracy and distance repeatability;——Position Stabilization time;——position overshoot;——posture characteristic drift;——interchangeability;——trajectory accuracy and trajectory repeatability;——repeated orientation trajectory accuracy;——corner deviation;——trajectory speed Characteristics; - Minimum positioning time; - Static compliance; - Swing deviation. For the test of a specific robot, this standard does not specify which of the above performance indicators should be selected. The test items described in this standard are mainly used to analyze and test the indicators of a certain robot, but can also be used for prototype test, type test or acceptance test. In order to compare the performance indicators of different robots, according to the provisions of this standard, the following parameters must be the same: the size of the test cube, test load, test speed, test trajectory, test cycle and environmental conditions. Appendix A gives the specific parameters used for comparative testing of pose characteristics and trajectory characteristics. This standard applies to all industrial robots defined in ISO 8373:1994. The term "robot" in this standard refers to industrial robots.