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International Conference on Frontiers of Mechanical Engineering and Materials Engineering (MEME 2012)

作者： Chen, Huanming Liu, Zhouping Nanchang Hangkong Univ Sch Aeronaut Mfg Engn Nanchang 330063 Peoples R China

ISBN: (纸本)9783037854419

To raise the programming efficiency of arc welding robots, the offline programming system was developed for a Motoman-UP20 robot with redundant degrees of freedom in VC++ integration environment. The system consists of kinematics analysis, motion simulation, welding trajectory plan, welding parameters plan and job file generating module. It can plan the motion path and posture of welding gun for saddle-shape seams, and display the workpiece on the interface synchronically. Job instructions can be made step by step, or generated automatically. Kinematics simulation module and communication module are integrated together, and job files can be exchanged between PC and robot controller via Ethernet to realize remote control.

关键词： Arc welding robot offline programming Motion simulation Path planning

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Application of robot offline programming in thermal spraying

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SURFACE & COATINGS TECHNOLOGY 2012年第19-20期206卷 3875-3882页

作者： Deng, SiHao Cai, ZhenHua Fang, DanDan Liao, HanLin Montavon, Ghislain UTBM LERMPS F-90010 Belfort France Ningbo Acad Smart City Dev NbAsCD Dept Smart Syst Res Zhejiang 315040 Peoples R China

Nowadays, robot manipulators have already been widely used in thermal spraying. They can be programmed in two ways: online and offline programming. The first programming method is easy to operate but difficult to guarantee the quality of coatings, especially for some complex workpieces. The offline programming technology is a good solution that can overcome the online programming tolerances by using the CAD files of the workpiece. The purpose of this study is to introduce the current applications of offline programming technology in thermal spraying, including some popular methods of path generation, process simulation, robot kinematics optimization, etc. In the last part of this paper, two examples of offline programming in thermal spraying were presented which refer to the trajectory optimization on a workpiece with a great angle and path generation on the complex workpiece with external axis. The simulations and experiments have proved that offline programming can effectively improve the production efficiency and coating quality. Crown Copyright (c) 2012 Published by Elsevier B.V. All rights reserved.

关键词： Thermal spraying Robot system offline programming Simulation

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Development of off-line programming and simulation system for automatic hole making equipment 3

Development of off-line programming and simulation system fo...

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IEEE 3rd Information Technology, Networking, Electronic and Automation Control Conference (ITNEC)

作者： Wang, Chengxin Wang, Wei Shenyang Aerosp Univ Aerosp Coll Shenyang Liaoning Peoples R China

ISBN: (纸本)9781538662434

For modern industrial robots, traditional online teaching has been difficult to meet the control requirements of its actual production. The offline programming system has been widely Valued and applied by manufacturing companies because of its good programming environment and easy modification of programs. In this paper, the offline programming and simulation system is developed. Firstly, the overall design of the offline programming and simulation system is formulated. After that, the offline programming module and simulation module of the automatic hole making are designed. Finally , the offline programming and simulation system is applied. In the process of automatic hole making of a certain type of aircraft wing panel, the offline programming and simulation system has certain application value.

关键词： Automatic hole making offline programming Simulation Wingwall

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A model for plant digitalisation, simulation and improvement: A case study in the automotive tier one supplier 25

A model for plant digitalisation, simulation and improvement...

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25th IEEE International Conference on Engineering, Technology and Innovation / 25th ICE/IEEE International Technology Management Conference (ITMC)

作者： Cortes, Daniel Ramirez, Jose Villagomez, Luis E. Batres, Rafael Molina, Arturo Velilla, Ailin Lozano, Gerardo Gonzalez, Emilio Puente, Jaime Esparza, German Cruz, Nancy Tecnol Monterrey Escuela Ingn & Ciencias Mexico City DF Mexico BOCAR Grp Coyoacan State Of Mexico Mexico SIEMENS PLM Mesoamer Mexico City DF Mexico

ISBN: (纸本)9781728134017

Digital manufacturing has been proved as an enabler of process planning and decision making in industry, showing improved results with the adoption of this technique. Taking advantage of the interconnectivity offered by Industry 4.0 technologies, it is possible to analyse the entire process as individual entities with their characteristics. Besides, simulation creates a digital environment which relies on information to reflect the reality of manufacturing plants, the primary motivation of simulation investment is the creation of different scenarios targeting business' mission. The model presented in this article gathers information from different entities aided by Sensing, Smart and Sustainable (S3) characteristics in order to digitalise a manufacturing plant and improve the decision- making process. It targets the whole manufacturing process as an opportunity to improve practices among the enterprise business model, taking into account the infrastructure of the operations, workers and the flow of information and material. In one hand, Sensing and Smart attributes are embedded in new machines and technology to enable interconnectivity, on the other hand, Sustainability is achieved in the process by the joint effort of the executive council of the organisation.

关键词： Advanced Manufacturing Digital Manufacturing Discrete Event Simulation offline programming Virtual Ergonomics Decision Making Automotive Industry

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Converting Robot offline Programs to Native Code Using the AdaptPack Studio Translators 19

Converting Robot Offline Programs to Native Code Using the A...

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19th IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)

作者： Souza, Joao Pedro Castro, Andre Rocha, Luis Relvas, Pedro Silva, Manuel F. INESC TEC Porto Portugal ISEP IPP Porto Portugal

ISBN: (纸本)9781728135588

The increase in productivity is a demand for modern industries that need to be competitive in the actual business scenario. To face these challenges, companies are increasingly using robotic systems for end-of-line production tasks, such as wrapping and palletizing, as a mean to enhance the production line efficiency and products traceability, allowing human operators to be moved to more added value operations. Despite this increasing use of robotic systems, these equipments still present some inconveniences regarding the programming procedure, as the time required for its execution does not meet the current industrial needs. To face this drawback, offline robot programming methods are gaining great visibility, as their flexibility and programming speed allows companies to face the need of successive changes in the production line set-up. However, even with a great number of robots and simulators that are available in market, the efforts to support several robot brands in one software did not reach the needs of engineers. Therefore, this paper proposes a translation library named AdaptPack Studio Translator, which is capable to export proprietary codes for the ABB, Fanuc, Kuka, and Yaskawa robot brands, after their offline programming has been performed in the Visual Components software. The results presented in this paper are evaluated in simulated and real scenarios.

关键词： Industrial Application Robot Language Translator Simulation offline programming

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Application of offline programming in CMM Automatic Measurement

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3rd International Conference on Manufacturing Science and Engineering (ICMSE 2012)

作者： He, Wei He, Yanhui Nanjing Inst Ind Technol Fac Mech Engn Nanjing 210046 Jiangsu Peoples R China

offline programming can generate programs with optimized structures and clear layers, realizing parametric programming. It is able to achieve almost all kinds of measurement objects. Subroutine can be used for improvi... 详细信息

ISBN: (纸本)9783037853702

关键词： CMM offline programming Subroutine

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Off-line nominal path generation of 6-DoF robotic manipulator for edge finishing and inspection processes

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INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY 2018年第1-4期99卷 85-96页

作者： Nemer, Mahmoud Konukseven, E. Ilhan Orta Dogu Tekn Univ Ankara Turkey

This paper deals with the development of a Computer-Aided Robotic Machining Process Planning package based on SolidWorks. The main aim of the package is to generate an efficient, collision-free, nominal tool path needed for edge finishing and inspection by utilizing a 6-DoF robotic arm. The overall nominal tool path involves analyzing the geometry of the workpiece, determining and designing an efficient collision-free tool path and finally generating the tool path data for the robot and verifying it. This package significantly simplifies the complexity of planning an efficient path for performing edge finishing and inspection. ABB IRB2000 robot is chosen for executing the generated tool path. Ultimately, such path is to be utilized as the nominal tool path by any control strategy present in the literature for a complete automatic edge finishing process.

关键词： offline programming CAD-based tools Edge deburring Edge scanning Path generation

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Automated Planning and Optimization of a Draping Processes Within the CATIA Environment Using a Python Software Tool

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Procedia Manufacturing 2019年 38卷 808-815页

作者： M. Körber C. Frommel German Aerospace Center Center for Lightweight Production Technologies Augsburg 86159 Germany

This thesis deals with the challenge of the virtual generation and optimization of complex production processes within the Computer Aided Design (CAD) environment CATIA V5. A flexible robot end-effector –(Modular Gripper) is used for automated draping process which serves as an example application. Previous experiments have shown that manually selecting all process parameters that are needed to adapt the grippers geometry is a very time consuming and inaccurate method. For this reason, a tool was developed that is able to determine or optimize the end-effector specific process parameters offline. Since all existing models are available in the CATIA environment, the goal was to perform this optimization process within the same environment. The software tool is based on a hierarchical architecture where all calculations and logic optimization processes are processed in the programming language Python. All commands in the CATIA environment are performed with the help of small, modularized CATScript programs that are able to interact with main Python algorithms. This work is intended to lead to a virtual optimization process that can be universally applied to complex manufacturing processes. Since it is based on a Python framework that is able to interact directly with the CATIA environment, it is flexible enough so that it can be adapted to further processes.

关键词： autonomous manufacturing automated preforming virtual planning optimization digital twin offline programming

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CAD-based robot path planning and simulation using OPEN CASCADE

CAD-based robot path planning and simulation using OPEN CASC...

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1st International Conference on Robotics and Smart Manufacturing (RoSMa)

作者： Bedaka, Amit Kumar Lin, Chyi-Yeu Natl Taiwan Univ Sci & Technol Dept Mech Engn Taipei 10607 Taiwan

In manufacturing industries, human operators are required in many manufacturing processes, which is time-consuming and not cost-effective. In the present approach, a CAD-based off-line programming (OLP) platform is developed based on OPEN CASCADE (OCC) open source libraries. The developed platform works as a human-robot interface (HRI), offers friendly interaction in an intuitive way, so that in few minutes with basic information, any user can generate a robot path from a CAD model and visualize the simulation graphically. The platform provides important steps such as loading CAD models to define a task, extracting CAD information to generate a path, checking the reachability of the manipulator, and simulation to check and prevent the possible collision before generating a robot program. To evaluate the industrial usability of the proposed platform, a robot program for gluing application is generated from simulation and mapped to a real 6-Degree Of Freedom industrial manipulator. (C) 2018 The Authors. Published by Elsevier Ltd.

关键词： Robot path planning offline programming open cascade cad model simulation platform glue dispensing

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TESTING OF AN INDUSTRIAL ROBOT'S ACCURACY AND REPEATABILITY IN OFF AND ONLINE ENVIRONMENT

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EKSPLOATACJA I NIEZAWODNOSC-MAINTENANCE AND RELIABILITY 2018年第3期20卷 455-464页

作者： Placzek, Marek Piszczek, Lukasz Silesian Tech Univ Fac Mech Engn Inst Engn Proc Automat & Integrated Mfg Syst Ul Konarskiego 18A PL-44100 Gliwice Poland ProPoint SP ZOO SP K Ltd Ul Bojkowska 37R PL-44100 Gliwice Poland

The paper discusses issues concerning the accuracy and repeatability tests of the positioning of the Kuka KR 16-2 industrial robot. The results of laboratory tests of an industrial robot, as well as a comparison of robot motion paths in the Robcad environment with the real robot motion paths are presented. In order to register movement paths in the laboratory conditions, the laser tracker Faro Vantage was used. Frequent necessity to correct programs of industrial robots created in the offline environment, is a results, among others, from the insufficient experience of people who carry out programming, the environment in which robots work and the parameters of the robots themselves, and therefore their accuracy and repeatability. It is connected with the extension of the start-up time and high costs. The work describes the measurement method and attempts to determine the influence of the type of route and motion parameters on the accuracy and repeatability of robot. The accuracy of mapping of simulated robot motion in a virtual environment was also verified.

关键词： industrial robot offline programming online programming positioning accuracy repeatability of positioning

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