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Increasing the accuracy of off-line generated tool paths by compensation of workpiece tolerances

MACHINING SCIENCE AND TECHNOLOGY 2003年第3期7卷 315-331页

作者： Toenshoff, HK Ostendorf, A Werhahn, J Laser Zentrum Hannover eV D-30419 Hannover Germany

Due to its high flexibility and its high accuracy laser machining has become the common process to perform three-dimensional cutting on deep-drawn workpieces especially when small lot sizes are to be machined. In the last few years the programming of laser machines has changed from teach-in to off-line programming, where the tool path definition is done in a CAM system based on a CAD model of the workpiece. Owing to tolerances in workpiece geometry and positioning, the off-line programmed tool paths often do not fit exactly the surface of the real workpiece. In this publication, a software system is proposed which adapts the CAD models to their corresponding real workpiece by compensating deviations in shape and location. As a result cutting quality and accuracy are improved.

关键词： 3-d laser cutting off-line programming workpiece tolerances compensation evolution strategies

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PRACTICAL IMPLEMENTATION OF VISION SYSTEMS IN A CIM ENVIRONMENT

COMPUTER INTEGRATED MANUFACTURING SYSTEMS

引用

COMPUTER INTEGRATED MANUFACTURING SYSTEMS 1992年第1期5卷 61-68页

作者： REDARCE, T LUCAS, Y Laboratoire d'Automatique Industrielle Institut National des Sciences Appliquées Bâtiment 303 20 Avenue A. Einstein 69621 Villeurbanne Cedex France

The problem of implementing a vision system in an integrated environment arises at many levels: local network communications, postprocessing interfaces, and especially with data representation: the problem is one of how to describe objects to match vision models with CAD models. This paper describes a practical application of the parametric method, validated in a workshop from product design to its control on the production line.

关键词： INDUSTRIAL VISION off-line programming CIM PATTERN RECOGNITION

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Simulation tools ease and speed assembly cell development

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ASSEMBLY AUTOMATION 1999年第2期19卷 121-125页

作者： Stringham, R Cimetrix Inc Salt Lake City UT USA

Typical assembly cell development requires that the hardware be mostly functional before significant software development can begin. Utilizing a software simulation of the hardware allows concurrent development of the hardware and software and provides many benefits including reduced time to market. Traditional simulation tools, though, are geared towards prototyping and early application development, but for advanced applications are of little or no use during later stages of development and deployment The Cimetrix CODE (Cimetrix Open Development Environment) system provides a unique solution that supports development of a single software application that can drive not only the simulation, but also the physical machine, without the use of a translator. CODE applications run on Windows NT and can take full advantage of the wide range of third party software and hardware available on that platform. This article will explore the use of simulation throughout the life cycle of an assembly cell, including project definition, development and maintenance, and discuss the benefits that simulation can provide.

关键词： cimetrix concurrent engineering off-line programming robotics simulation

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Kinematic Study on Motoman HP6 Arc Welding Robot Based on Unigraphics

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Transactions of Tianjin University 2011年第3期17卷 199-202页

作者：冯胜强胡绳荪申俊琦 Tianjin Key Laboratory of Advanced Joining Technology School of Material Science and Engineering Tianjin University Ningbo Branch of China Academy of Ordnance Science

The links of Motoman HP6 arc welding robot are considered as an open kinematic chain which consists of a series of rotational joints through concatenation. One end of the open chain is fixed to the base or the earth, and the other end which is free fastens the end executor to complete various duties. Each link of this arc welding robot has four kinds of Denavit-Hartenberg parameters: common normal length between two adjacent links, angle of two adjacent joints, distance between the crossing of common normal length and two joints axes, and angle of two adjacent links. The displacement relation between each link of the Motoman HP6 arc welding robot is introduced, and the kinematic positive-going solution and the kinematic passive-going solution are calculated.

关键词： arc welding robot link Denavit-Hartenberg parameter kinematic positive-going solution kinematicpassive-going solution off-line programming

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AUTOMATIC TRAJECTORY PLANNING SYSTEM (ATPS) FOR SPRAY PAINTING ROBOTS

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JOURNAL OF MANUFACTURING SYSTEMS 1991年第5期10卷 396-406页

作者： SUH, SH WOO, IK NOH, SK Pohang Institute of Science and Technology (POSTECH) Pohang Korea

In this paper, we develop an automatic trajectory planning system (ATPS) for painting robots by a new scheme. This systems considers geometric modeling, painting mechanics, and robot dynamics to output an optimal trajectory (in the sense of coating uniformity and painting time) based on the CAD data describing the shape of objects. The new scheme is implemented on a SUN/4 workstation to develop an ATPS for painting robots. To test effectiveness and illustrate the developed system, numerous experiments are performed and analyzed. The practical application of the developed system is to plan an optimal robot trajectory that results in uniform coating thickness in minimum painting time.

关键词： TRAJECTORY PLANNING off-line programming ROBOT MOTION CAD CAM SIMULATION

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Path and orientation accuracy of industrial robots

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 1993年第1期8卷 29-33页

作者： Berg, Joachim O. Fed Armed Forces Univ Inst Design & Mfg Engn D-2000 Hamburg Germany

The automotive industry uses mainly on-line programming, i.e. teach-in programming, of welding and bonding robots for path planning purposes. This programming method is very time-consuming and expensive, and short-term program modifications cannot be easily performed. Computer-aided simulation of the working program and subsequent off-line programming seems to be one possible solution. Unfortunately, off-line versus on-line programmed paths entail completely different robot performances. As robot manufacturers are unable to provide data on the off-line path accuracy of their products, this type of programming is not suited for practical operation. This problem will be discussed on the basis of directive VDI 2861, and for the first time results of off-line and on-line path measurements will be compared.

关键词： robot accuracy off-line programming robot offline simmulation in CAD path and orientation accuracy of robots

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Study on motion simulation of arc welding robot based on UG

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China Welding 2008年第2期17卷 54-57页

作者：冯胜强胡绳荪杜乃成申俊琦 School of Materials Science and Engineering Tianjin University

The motion simulation of arc welding robot is the basis of the system of robot off-line programming, and it has been one of the important research directions. The UGNX 4. 0 is adopted to establish 3D simulating model of MOTOMAN-HP6 arc welding robot. The kinematic model under link-pole coordinate system is established by the second development function offered by UG/OPEN API and the method of programming using VC ＋＋ 6. 0. The methods of founding model and operational procedures are introduced, which provides a good basis for off-line programming technique under Unigraphies condition.

关键词： arc welding robot off-line programming Unigraphics motion simulation

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Neural network approach to collision free path-planning for robotic manipulators

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INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE 2006年第8期37卷 555-564页

作者： Pashkevich, A. Kazheunikau, M. Ruano, A. E. Belarussian State Univ Informat & Radioelect Dept Automat Control Robot Lab Minsk 220027 BELARUS Univ Algarve Ctr Intelligent Syst Fac Sci & Technol P-8000117 Faro Portugal

The paper deals with collision free path-planning for industrial robotic manipulators A new efficient approach is proposed that is based on the topologically ordered neural network model. This model describes harmonic potential field of the robot configuration space, sampled by the non-regular grid. The developed path-planning algorithm takes into account highly-irregular shape of the obstacles of welding and assembling robotic cells, and provides reduced number of collision checking. The stability of the topologically ordered neural network is investigated. The algorithm has been successfully applied to the off-line programming of a robotic manufacturing cell for the automotive industry.

关键词： robotic manipulators configuration space neural networks off-line programming

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Application of External Axis in Robot-Assisted Thermal Spraying

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JOURNAL OF THERMAL SPRAY TECHNOLOGY 2012年第6期21卷 1203-1215页

作者： Deng, Sihao Fang, Dandan Cai, Zhenhua Liao, Hanlin Montavon, Ghislain UTBM IRTES LERMPS F-90010 Belfort France Ningbo Acad Smart City Dev NbAsCD Dept Smart Syst Res Ningbo 315040 Zhejiang Peoples R China

Currently, industrial robots are widely used in the process of thermal spraying because of their high efficiency, security, and repeatability. Although robots are found suitable for use in industrial productions, they have some natural disadvantages because of their six-axis mechanical linkages. When a robot performs a series of stages of production, it could be hard to move from one to another because a few axes reach their limit value. For this reason, an external axis should be added to the robot system to extend the reachable space of the robots. This article concerns the application of external axis on ABB robots in thermal spraying and the different methods of off-line programming with external axis in the virtual environment. The developed software toolkit was applied to coat real workpiece with a complex geometry in atmospheric plasma spraying).

关键词： external axis industrial robot off-line programming thermal spraying

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Robot Simulation and programming System

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IFAC Proceedings Volumes 1988年第16期21卷 437-442页

作者： A. Woźniak J. Warczyński Institute of Control Engineering Technical University of Poznań 60-965 Poznań Poland

In the paper a simulation and off-line programming system for robots in an open kinematic chain of rigid links with fifth-class pairs has been outlined. It consists of a database and six program modules cooperating with one another under control of a system management program. The system operates in the framework of three main modes which are : modelling, programming and simulation. They enable off-line development and debugging of robot programs as well as the model - based evaluation of the dynamic performance of a robot and its control and actuator systems with respect to the movement dynamic phenomena. Also, the workcell layout and verification of programmed robot actions within the workcell are possible. For this purpose the animated robot and workcell wire-frame graphical models, composed with the aid of a graphical editor module, can be applied. There are also additional programs of informational nature in the system, like procedure for evaluation of robot inertia tensors or its work space volume which, together with available help functions, make the system more user-friendly.

关键词： Robot off-line programming robot system modelling robot dynamics simulation

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