Today robots represents a key factor in several industry fields as far as productivity and competitiveness are concerned. To this purpose, off-line programming approaches and tools are clearly needed in order to allow...
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Today robots represents a key factor in several industry fields as far as productivity and competitiveness are concerned. To this purpose, off-line programming approaches and tools are clearly needed in order to allow fine development and fast adaptation of robot programs while minimizing machine downtime. In this context, this work introduces the off-line programming software developed by SACMI, named "Smartoffline NextGen".
Robot off-line programming is widely used in the field of spatial intersection curve welding. However, several existing problems are needed to be resolved which include the following: the operation process depends on ...
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Robot off-line programming is widely used in the field of spatial intersection curve welding. However, several existing problems are needed to be resolved which include the following: the operation process depends on the third-party CAD software, the welding trajectory planning depends on the precise analytical formula, and the determination of welding posture lacks fusion of geometrical features of surrounding surfaces. This paper presents an off-line programming method of spatial intersection curve welding based on visualization toolkit (VTK). In this method, the visualization pipeline and observer/command mode of VTK are used to display the 3D model of the robot welding system and pick up the surfaces around the welding seam respectively. By calculating the normal vectors of the picked surfaces, the equidistant cutter planes perpendicular to these surfaces can be automatically created to form the planning weld nodes on the intersection of the surfaces, and the position and posture of the welding torch on weld nodes can be extracted. Furthermore, the position and posture along the weld curve are discretized by B-spline curve interpolation and quaternion spherical linear interpolation, respectively. Finally, the motion simulation is realized by the application of robot inverse kinematics. This method does not depend on the specific form of intersection, and all calculation processes are completed within the system, avoiding tedious external data calculation and import process. The correctness and practicability of the method are verified by the welding experiment of saddle-shaped cylindrical intersection pipes.
The current robotic welding off-line programming software packages do not consider the effect of welding distortions although the welding distortions are well-known phenomena. Due to the distortions, off-line programm...
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The current robotic welding off-line programming software packages do not consider the effect of welding distortions although the welding distortions are well-known phenomena. Due to the distortions, off-line programmed robot programs will have inaccuracies in robot positions. The purpose of this study is to develop a method for estimating the welding distortions during the jigless multi-robot welding production using a robot welding off-line programming software as a simulation environment. The applied methodology is to measure distortions of welded S700 workpieces with laser scanner and by manual measurement, and create knowledge-based welding distortion estimation method in the simulation software. The results of this study indicate that the distortion in welded workpiece can be measured with laser scanner or manually and during simulation the robot was able to edit its position according to the measured estimation. Laser scanning was found to be preferred measuring method as the data can be collected digitally.
The paper contributes to the development of a general-purpose modeling, motion simulation and off-line programming system applicable to various manipulators and mechanisms. It is based on the popular CAD software Soli...
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ISBN:
(纸本)9781538692455
The paper contributes to the development of a general-purpose modeling, motion simulation and off-line programming system applicable to various manipulators and mechanisms. It is based on the popular CAD software SolidWorks, widely used in many industries, and its application programming interface (API). Implemented as a SolidWorks macro (written in VBA), the system allows the direct usage of the existing robot 3D models created for manufacturing purposes and eliminates the need for additional motion simulation software, thus providing an integrated solution for the simultaneous execution of design and simulation tasks. The lightweight integration into SolidWorks and the effective interface to controllers or standalone simulators that generate the motion of the manipulators distinguish the proposed development from the currently available CAD-based robot motion simulators.
Purpose Robotic friction stir welding (RFSW) is an innovative process which enables solid-state welding of aluminum parts using robots. A major drawback of this process is that the robot joints undergo elastic deforma...
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Purpose Robotic friction stir welding (RFSW) is an innovative process which enables solid-state welding of aluminum parts using robots. A major drawback of this process is that the robot joints undergo elastic deformation during the welding, because of the high forces induced by the process. This leads to tool deviation and incorrect orientation. There is currently no computer-aided manufacturing/computer-aided design (CAD) software for generating off-line paths which integrates robot deflections, and the main purpose of this study is to propose an off-line methodology to plan a path for RFSW with the integration of the deflections. Design/methodology/approach The approach is divided into two steps. The first step consists of extracting position and orientation data from CAD models of the workpieces and adding the deflections calculated with a deflection model to generate a suitable path for performing RFSW. The second step consists of the smooth fitting of the suitable path using Bezier curves. Findings The method is experimentally validated by welding a curved workpiece using a Kuka KR500-2MT robot. A suitable tool position and orientation were calculated to perform this welding, an experimental procedure was set up, a defect-free weld was performed and a high accuracy was achieved in terms of position and orientation. Practical implications This method can help manufacturers to easily perform RFSW for three-dimensional workpieces regardless of the lateral tool deviation, loss of the right orientation and control force stability. Originality/value The originality of this method lies in compensating for robot deflections without using expensive sensors, which is the most commonly used method for compensating for robot deflection. This off-line method can lead to a reduction in programming time in comparison with teach programming method and leads to reduced investment costs in comparison with commercial off-line programming packages.
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
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-lineprogramming and program adjustmen...
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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-lineprogramming 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.
Robot has been widely used for industrial application in the flexible manufacturing system. The time-consuming teaching process by skilled engineers is inevitable to teach real robot manipulators for generating the ro...
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ISBN:
(纸本)9781509034741
Robot has been widely used for industrial application in the flexible manufacturing system. The time-consuming teaching process by skilled engineers is inevitable to teach real robot manipulators for generating the robot program and recording locations which the robot should follow for the given task. The off-line programming (OLP) method is proposed to generate the robot program from CAD format data without the teaching process. It needs a registration process to find the translational and rotational relations between the reference frame of real robot and the reference frame in CAD format data. This paper presents the simple registration method between real robot and workpiece in virtual environment. Also a method to assign position and orientation of TCP (Tool Center Point) in real robot is presented when the target point is selected in the virtual environment by the user. The proposed methods are evaluated by the simulation with the commercial industrial robot for placing tool on the surface of the workpiece which is given in STL format data.
Thick walled curve welding are usually joined by multi-layer and multi-pass welding, which quality and efficiency could be improved by off-line programming of robot welding. However, the precision of off-line programm...
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Thick walled curve welding are usually joined by multi-layer and multi-pass welding, which quality and efficiency could be improved by off-line programming of robot welding. However, the precision of off-line programming welding path was decreased due to the deviation between the off-line planned welding path and the actual welding path. A path planning algorithm and a path compensation algorithm of multi-layer and multi-pass curve welding seam for off-line programming of robot welding are developed in this paper. Experimental results show that the robot off-line programming improves the welding efftcieney and precision for thick walled curve welding seam.
This paper presents a dedicated off-line programming system for robotic cutting in pipe processing based on Visual Studio 2010 and OpenGL. The off-line programming system can calculate the space trajectory and generat...
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ISBN:
(数字)9783319228761
ISBN:
(纸本)9783319228761;9783319228754
This paper presents a dedicated off-line programming system for robotic cutting in pipe processing based on Visual Studio 2010 and OpenGL. The off-line programming system can calculate the space trajectory and generate the programs for a 6-DOF industrial robot automatically. It has a convenient and friendly interactive interface, and the process of cutting can be seen intuitively. Robot programs generated by using the developed system have been tested on a robotic cutting system, and the experimental results are provided, which demonstrate the practicability of the off-line programming system.
The overall purpose of this project is to test the impact and potential benefits of Virtual Reality technology by improving the current training methods for the operation of the Mitsubishi Movemaster RV-M1 Robot. The ...
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The overall purpose of this project is to test the impact and potential benefits of Virtual Reality technology by improving the current training methods for the operation of the Mitsubishi Movemaster RV-M1 Robot. The final application aims to achieve this goal by increasing the user's interactivity with the robot's features inside a virtual environment developed using the game engine Unity and the Oculus Rift headset for the virtual visualization. By using this application, on site operation time is decreased mainly by allowing off-line programming of the equipment. It also allows universities without or with limited industrial machinery to provide their students a way to learn and practice on industrial automation and robotics simulation topics without inconvenience. The application is designed to decrease the student's learning curve by displaying a complete virtual environment where the tridimensional model of the robotic arm can be visualized and programmed according to the real model's parameters and specifications. Joint type moving sequences are compiled into a file which afterwards can be transferred to the robot for real testing and execution. The system integrates a set of joysticks that allows the user to program each of the robot's joints as well as display several features of it in the virtual environment such as animations, images and text information that simplify the instructions shown in a printed manual. In order to find an optimized, collision-free movement sequence between two points an A* shortest path algorithm is implemented using some of the built-in tools and plugins available in Unity and its Asset store. As a result of this last feature, the application can create a comparison between the user's input sequence and a computer generated sequence based on the A* algorithm. (C) 2015 The Authors. Published by Elsevier B.V.
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