Nowadays, industrial robots are increasingly used for heavy manufacturing tasks such as milling, drilling, deburring or sanding. Twenty years ago, researchers began to identify scientific bottlenecks and have made contributions on robot performance in terms of repeatability and accuracy. We are currently observing many methods and tools to apply to improve robot performances through their geometric, kinematic and dynamic modeling. There are often laboratory tools, not compatible with the needs of companies i.e. economically compatible, easy to install, easy to use with a good integration to industrial lines. In this context, we propose a new device to identify robot performances based on the famous ballbar used for the calibration of machine-tools. This paper thus deals with the design methodology, its design and environment of use as well as its performance in robot identification.

如今，工业机器人越来越多地用于重型制造任务，例如铣削、钻孔、去毛刺或打磨。二十年前，研究人员开始发现科学瓶颈，并在可重复性和准确性方面对机器人性能做出了贡献。我们目前正在观察许多方法和工具，可用于通过几何、运动和动态建模来提高机器人性能。经常有实验室工具与公司的需求不兼容，即经济兼容、易于安装、易于使用且与工业生产线的良好集成。在这种情况下，我们提出了一种基于用于校准机床的著名球杆仪来识别机器人性能的新设备。因此，本文涉及设计方法，