The time expended during a particular robot work cycle is an important parameter to be considered when planning a robot application process. In order to predict an economic robot work cycle time, the use of a simple model which can easily be encoded into a computer program will be advantageous. This paper presents some results obtained with an off-line mathematical model for predicting robot work cycle time for quality condition monitoring of threaded components. The model relates the robot motion, end effector performance characteristics and workcell parameters to the task characteristics.
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