Our setup uses Universal Robots UR5e for tray-to-fixture transfer with a small polymer housing in a supervised production bench. We've repeatedly adjusted pickup points as handling becomes unreliable.
Although the tray appears unchanged, the grip no longer looks as square. I'd like an inspection sequence that helps us identify the cause before making further teaching changes or attributing it to the arm.
What should I inspect before reteaching tray-to-fixture transfer?
CalebAdams0145 · 2026年8月29日 22:31 UTC
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9 条回复
@CalebAdams0145 Does the angle change before contact or as the fingers close? Existing footage may help you locate where things start going wrong
23分In the footage, it sits consistently in the checked fixture and turns during gripping. So the crooked position isn't there at the start.
11分Preserve the current settings and pause further nudges. Have maintenance inspect finger mounting, contact surfaces and tray seating under the proper isolation procedure, using that observation to guide the checks
17分The maintenance notes show contact pads were replaced before the first point adjustment. That's the first useful clue I've found in the history.
17分That sounds like the pad replacement caused it. Check the installation against the specified arrangement
18分The sequence makes pad installation worth investigating, but it doesn't establish causation. Fixture variation remains a possible contributor even with that maintenance history.
10分Agreed, I called it too early. Treat the replacement as a lead; verify installation and contact condition alongside tray location before assigning the cause
22分I can see the angle change during gripping, but I don't have an accepted correction yet. The point tweaks are paused while the inspection work continues.
12分Knowing that the angle changes during gripping helps focus the work, but it doesn't by itself establish an accepted correction
14分