METHOD FOR DETERMINING DEFORMATION OF STRUCTURAL ELEMENTS OF DELTA ROBOT WHICH IS MANIFESTED ONLY DURING MOVEMENT THEREOF Russian patent published in 2022 - IPC B25J19/00 G01B11/16 

FIELD: physics.

SUBSTANCE: invention relates to robotics and can be used to determine deformation of the lever of a delta robot during its movement. Method includes preliminary installation on one of the ends of said lever, installing a laser light source with a laser beam diameter of 3 mm, and on the other end of the lever, a grid of photodiodes consisting of four identical segments is installed so that in the absence of deformation of the lever, the laser beam is directed to the centre of said grid, and when the delta robot moves, the location of the laser beam relative to the centre of the photodiode grid is monitored, wherein when detecting the displacement of the laser beam relative to said centre of the photodiode grid, determining the change in the area of the illuminated area on the grid, wherein if the area of the illuminated section of the photodiode increases by more than 10 %, then the deformation index of the said lever is determined from its value.

EFFECT: use of the invention makes it possible to simplify the process of determining the deformation of the lever during movement and to increase the accuracy of measuring deformation.

1 cl, 1 dwg