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off-line programming of an industrial robot for manufacturing

INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2005年第3期26卷 262-267页

作者： Mitsi, S Bouzakis, KD Mansour, G Sagris, D Maliaris, G Aristotle Univ Thessaloniki Dept Mech Engn Lab Machine Tools & Mfg Engn Thessaloniki 54124 Greece

A procedure for the automatic generation of the robot programming used in manufacturing operations is introduced in the present paper. The off-line programming system developed here includes graphical simulation of the robot and its workcell, kinematic model of the robot, motion planning and creation of the NC code for manufacturing process. The proposed system is applied in a robot with five revolute joints for manufacturing operations and in a robot with six revolute joints for welding operations.

关键词： robot off-line programming simulation welding

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off-line programming in the shipbuilding industry : Open architecture and semi-automatic approach

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INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS 2005年第1期3卷 32-42页

作者： Lee, JH Kim, CS Hong, KS Pusan Natl Univ Sch Mech Engn Pusan 609735 South Korea

In this paper, to improve the efficiency of welding and user convenience in the shipbuilding industry, a PC-based off-line programming (OLP) technique and the development of a robot transfer unit are presented. The developed OLP system is capable of not only robot motion simulations but also automatic generations of a series of robot programs. The strength of the developed OLP system lies in its flexibility in handling the changes of the welding robot's target objects. Moreover, for a precise transfer of the robot to a desired location, an auxiliary mobile platform named a robot-origin-transfer-unit (ROTU) was developed. To enhance the cornering capability of the platform in a narrow area, the developed ROTU is equipped with 2 steering wheels and 1 driving wheel. Both the OLP and the ROTU were field-tested and their performances were proven successful.

关键词： open architecture off-line programming mobile manipulator virtual reality modeling language containership building

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off-line programming Techniques for Multirobot Cooperation System

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INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 2013年第7期10卷

作者： Gan, Yahui Dai, Xianzhong Li, Dongwei Southeast Univ Sch Automat Nanjing Jiangsu Peoples R China Minist Educ Key Lab Measurement & Control Complex Syst Engn Nanjing Jiangsu Peoples R China

An off-line programming software designed for multiple robots cooperation system is presented in this paper. At the beginning of the paper, current technologies of robot off-line programming are reviewed and summarized. Then, present status of cooperative functions and cooperative motion instructions defined by predominant robot manufacturers are introduced. Thereafter, principles of robot path planning for cooperative motions are presented. Based on such analysis, software architecture of the off-line programming software designed for general multirobot cooperation system is presented. At last, an off-line programming software with high detailed 3 dimension visualization is achieved. Simulation graphs and snapshots of typical cooperative motions are presented at the end of the paper, which proved the effectiveness of our proposed method.

关键词： off-line programming Multiple Robots Cooperative Motion Instructions Simulation Visualization

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off-line programming of flexible welding manufacturing cells

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JOURNAL OF MATERIALS PROCESSING TECHNOLOGY 1998年第1-3期78卷 24-28页

作者： Carvalho, GC Siqueira, ML Absi-Alfaro, SC Univ Brasilia Dept Mech Engn GRACO Grp Automacao & Controle Proc Fabricacao BR-70910900 Brasilia DF Brazil

The use of robotized welding: to achieve better quality has demanded research of new technologies to integrate and test the systems. The complete control of a flexible manufacturing cell involves perfect task synchronisation among all of its robots and equipment. off-line programming provides an essential link between CAD and CAM. The development of off-line programming systems should result in greater use of robots and accelerate the implementation of flexible manufacturing systems (FMS). It also offers an alternative for complex automated production lines and should allow rapid response to changing product/process issues. This article describes some features of graphic simulation and off-line programming focusing on its applications to robotized welding. (C) 1998 Elsevier Science S.A. All rights reserved.

关键词： off-line programming robotized welding flexible manufacturing cell

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off-line programming of a Robot for Laser Re-Manufacturing

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Tsinghua Science and Technology 2009年第S1期14卷 186-191页

作者：靳晓曙杨洗陈 School of Machinery and Electron Institute of Laser Technology Tianjin Polytechnic University

off-line programming provides an essential link for CAD/CAM. This paper introduced the principle of developing off-line programming system for laser re-manufacturing. Task and information flow of off-line programming for laser re-manufacturing robot was analyzed and the software structure of off-line programming based on commercial CAD software was constructed. The off-line programming system developed in this study includes 3-D solid model design, direct slicing for obtaining path data, graphical simulation of the robot and its workcell, kinematic model of the robot, motion planning, and creation of the control program for manufacturing process. The CAD software was used to design models of robot, workpiece, coaxial nozzle, and workspace. Through the application programming interface provided by the CAD software, the VC++ and ATL were chosen to develop such modules as direct slicing for obtaining path data, path planning, process specification, and control program automatic generation. The FANUC Roboguide software was used to realize graphical simulation. By direct slicing, the position and orientation data of robot end-effector was determined. The results show that the proposed system can be applied in laser re-manufacturing robot for manufacturing operations.

关键词： laser re-manufacturing robot off-line programming direct slicing

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off-line programming System of Industrial Robot for Spraying Manufacturing Optimization 33

Off-line Programming System of Industrial Robot for Spraying...

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33rd Chinese Control Conference (CCC)

作者： Zhou Bo Zhang Xi Meng Zhengda Dai Xianzhang Southeast Univ Minist Educ Sch Automat Key Lab Measurement & Control CSE Nanjing 200196 Jiangsu Peoples R China

ISBN: (纸本)9781479947249

Artificial teaching used of traditional industrial robots in manufacturing severely restrict the improvement of the productivity, and offline programming technique is regarded as the key technology to solve this problem. In this paper, the paint robot is studied on the following modules, including importing and preprocessing of CAD workpiece model, spraying process modeling, spray path planning, trajectory optimization and adjustment, spraying process simulation and performance analysis, and spraying robot trajectory generation, which is based on deep analysis of the basic characteristics of spray manufacturing systems. A set of core technologies and algorithms with a high degree of automation, optimization and flexibility have formed, which realizes offline simulation and performance evaluation for complex spraying tasks, so as to achieve the purpose of optimizing spray effect, improving the efficiency of spraying operations and save spraying costs. Simulation and spraying experimental results show the effectiveness and practicality of offline programming system developed in this paper.

关键词： Spray painting robot off-line programming trajectory planning virtual reality

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off-line programming of flexible welding manufacturing cells

Off-line programming of flexible welding manufacturing cells

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6th International offshore and Polar Engineering Conference

作者： Danni, LS Carvalho, GC Jardim, JOD Siqueira, ML AbsiAlfaro, SC UNIV BRASILIA DEPT MECH ENGN BR-70910 BRASILIA DF BRAZIL

ISBN: (纸本)1880653265

The use of robotized welding as a way to reach a better quality has demanded research of new technologies to integrate and test the systems. The complete control of a flexible manufacturing cell involves the perfect task synchronisation among all of its robots and equipment. off-line programming provides an essential link between CAD and CAM. The development of off-line programming systems should result in greater use of robots and accelerate the implementation of flexible manufacturing systems (FMS). It also offers an alternative for complex automated production lines and should allow rapid response to changing product/process issues. This article describes some features of graphic simulation and off-line programming focusing on its applications to robotized welding.

关键词： robot off-line programming welding

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off-line programming of Grinding Robots at Grohe Portugal

Off-line Programming of Grinding Robots at Grohe Portugal

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IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Silva, Manuel F. Polytech Porto ISEP IPP Sch Engn Rua Dr Antonio Bernardino Almeida Oporto Portugal INESC TEC Rua Dr Antonio Bernardino Almeida Oporto Portugal

ISBN: (纸本)9781509022557

The work described in this paper address the problems of productivity of Grohe's Portugal grinding/polishing department, related to the frequent stops of robotic cells for on-line programming and program adjustments. The solution to the stated problem was achieved through the adoption of off-line programming as an alternative to the conventional on-line method. Efforts were developed to overcome some limitations and restrictions found in terms of the software applications used, in order to adapt and improve their use to the needs of this type of contact applications. The solution developed is currently used for off-line programming the grinding robots at Grohe Portugal, with a significant reduction in the cells stop time to program the robots and also in the cycle time. The application of the off-line programming method and of the new programming techniques allowed to obtain a reduction of the cell stop time (up to 85% reduction), to optimize the production cycle time (up to 10% reduction) and, simultaneously, good results in terms of product finishing. The main limitations faced are the lack of realism of the wheel flexibility and the lack of sensitivity of the contact force with it.

关键词： Robotics simulation off-line programming grinding

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off-line programming and Simulation from CAD Drawings: Robot-Assisted Sheet Metal Bending

Off-line Programming and Simulation from CAD Drawings: Robot...

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39th Annual Conference of the IEEE Industrial-Electronics-Society (IECON)

作者： Neto, Pedro Univ Coimbra Dept Mech Engn CEMUC P-3030788 Coimbra Portugal

ISBN: (纸本)9781479902248

Increasingly, industrial robots are being used in production systems. This is because they are highly flexible machines and economically competitive with human labor. The problem is that they are difficult to program. Thus, manufacturing system designers are looking for more intuitive ways to program robots, especially using the CAD drawings of the production system they developed. This paper presents an industrial application of a novel CAD-based off-line robot programming (OLP) and simulation system in which the CAD package used for cell design is also used for OLP and robot simulation. Thus, OLP becomes more accessible to anyone with basic knowledge of CAD and robotics. The system was tested in a robot-assisted sheet metal bending cell. Experiments allowed identifying the pros and cons of the proposed solution.

关键词： CAD off-line programming simulation robotics sheet metal bending

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Designing and Optimization of an off-line programming System for Robotic Belt Grinding Process

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Chinese Journal of Mechanical Engineering 2011年第4期24卷 647-655页

作者： WANG Wei YUN Chao ZHANG Ling GAO Zhihui Robotics Institute Beihang University Beijing 100191 China State Key Laboratory for Manufacturing Systems Engineering Xi＇an Jiaotong University Xi＇an 710049 China

off-line programming （OLP） system becomes one of the most important programming modules for the robotic belt grinding process, however there lacks research on increasing the grinding dexterous space depending on the OLP system. A new type of grinding robot and a novel robotic belt grinding workcell are forwarded, and their features are briefly introduced. An open and object-oriented off-line programming system is developed for this robotic belt grinding system. The parameters of the trimmed surface are read from the initial graphics exchange specification （IGES） file of the CAD model of the workpiece. The deBoor-Cox basis function is used to sample the grinding target with local contact frame on the workpiece. The numerical formula of inverse kinematics is set up based on Newton＇s iterative procedure, to calculate the grinding robot configurations corresponding to the grinding targets. After the grinding path is obtained, the OLP system turns to be more effective than the teach-by-showing system. In order to improve the grinding workspace, an optimization algorithm for dynamic tool frame is proposed and performed on the special robotic belt grinding system. The initial tool frame and the interval of neighboring tool frames are defined as the preparation of the algorithm. An optimized tool local frame can be selected to grind the complex surface for a maximum dexterity index of the robot. Under the optimization algorithm, a simulation of grinding a vane is included and comparison of grinding workspace is done before and after the tool frame optimization. By the algorithm, the grinding workspace can be enlarged. Moreover the dynamic tool frame can be considered to add one degree-of-freedom to the grinding kinematical chain, which provides the theoretical support for the improvement of robotic dexterity for the complex surface grinding.

关键词： off-line programming robotic belt grinding path generation tool optimization

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