Faculty Advisor

Furlong-Vazquez, Cosme

Faculty Advisor

Lados, Diana A.


The goal of this project is to provide the sponsor with a test fixture and procedure to characterize positioning repeatability of collaborative robots as a function of payload and acceleration according to ISO 9283. Using the Universal Robot’s model UR10 as a testing platform, the objective was accomplished by analyzing the current state of the art techniques for robot characterization; completing a vibrational analysis to select and implement suitable metrology equipment; designing, optimizing, and manufacturing a test fixture; developing a testing procedure and software; applying the fixture and test procedures to characterize positioning repeatability. The outcomes prove the potential of the developed methods and equipment for expansion to additional projects of interest to the sponsor.


Worcester Polytechnic Institute

Date Accepted

April 2014


Mechanical Engineering

Project Type

Major Qualifying Project



Advisor Department

Mechanical Engineering