检索结果-内蒙古大学图书馆

Dynamics Simulation Toolbox for Industrial Robot Manipulators

COMPUTER APPLICATIONS IN ENGINEERING EDUCATION 2010年第2期18卷 319-330页

作者： Toz, Metin Kucuk, Serdar Kocaeli Univ Dept Elect & Comp Educ TR-41380 Kocaeli Turkey

A new robot toolbox for dynamics simulation based on MATLAB Graphical User Interface (GUI) is developed for educational purposes. It is built on the previous version named as ROBOLAB performing only the kinematics analysis of robot manipulators. The toolbox presented in this paper provides interactive real-time simulation and visualization of the industrial robot manipulator's dynamics based on Langrange-Euler and Newton-Euler formulations. Since most of the industrial robot manipulators are produced with six degrees of freedom (DOE) such as the PUMA 560, the Fanuc ArcMate 1 20iB and Stanford Arm, the library of the toolbox includes sixteen fundamental 6-DOF robot manipulators with Euler wrist. The software can be used to interactively perform robotics analysis and off-line programming of robot dynamics such as forward and inverse dynamics as well as to interactively teach and simulate the basic principles of robot dynamics in a very realistic way. In order to demonstrate the user-friendly features of the toolbox much better, simulation of the NS robot manipulator (Stanford Arm) is provided as an example. (C) 2009 Wiley Periodicals. Inc. Comm Appl Eng Educ 18: 319-330. 2010: Published online in Wiley InterScience (***);DOI 10.1002/cae.20262

关键词： GUI off-line programming simulation visualization robot dynamics industrial robots

来源：评论

学校读者我要写书评

暂无评论

Multi-source Deviation Analysis and Rapid Correction of Locating Points

Multi-source Deviation Analysis and Rapid Correction of Loca...

引用

2010 International Conference on Computer and Communication Technologies in Agriculture Engineering (CCTAE 2010)

作者： LIU Ping1, ZHANG Kai-fu1, LI Yuan1, LIU Zhen-xing1 The Key Laboratory of Contemporary Design and Integrated Manufacturing Technology, Ministry of Education Northwestern Polytechnical University Xi’an, China

The application of the Automatic Drilling/Riveting (ADR) System realizes automation of the wing panel riveting assembly. However, a major obstacle to the ADR of wing assembly in the past has been an inability to rapidly reduce locating deviation that usually existed between the upper- riveting head and actual locating points. This case largely influences actual production. To increasing locating accuracy and processing efficiency, a new method for errors analysis and rapid correction was proposed. Firstly, by analyzing the process flow of ADR, the resources and causes of errors were obtained from the analyzed results. Secondly, defined locating points in 3D model, then offset the points to modify the deviation between locating points in 3D numerical modeling and actual locating points in located and clamped wing panels. The modified data is from site measuring. Thirdly, software CATIA secondary development software CAA (Component Application Architecture) was applied to develop Rapid Error Correction Module in off-line programming. The locating points were obtained by the Agent technology and the batch definition was implemented on the visual interactive definition platform. The locating points were corrected by the AUTOMATION interface and the offset based on the template document was completed, the final locating points were determined by the linear programming. Finally, implementation on wing panel riveting assembly was introduced, and the results demonstrated the functionality of the method.

关键词： locating points off-line programming deviation correction automatic drilling/riveting

来源：评论

学校读者我要写书评

暂无评论

Research of Kinematics Parameter Calibration for Robot Manipulator Based on Measuring Method

Research of Kinematics Parameter Calibration for Robot Manip...

引用

IEEE International Conference on Mechatronics and Automation

作者： Liu, Zhenyu Yang, Jingshan Wang, Miaomiao Shenyang Univ Technol Sch Informat Sci & Engn Shenyang Liaoning Prov Peoples R China

ISBN: (纸本)9781424426928

Robot calibration is one of the key technologies of off-line programming, and measuring method is an important factor which restrict its development. According to this, this paper gives an analysis of robot modeling errors, which is based on the robot error source, and gives an easy way of measuring the six degree freedom robot, and based on that, a real robot kinematics model is set up. According to the result of measurement, it also sets up a complete, proportional and consecutive kinematical model that identify the geometric structure of the robot parameters easily, and the robot's absolute accuracy is improved.

关键词： Calibration off-line programming Parameter identification

来源：评论

学校读者我要写书评

暂无评论

off-line programming of an industrial robot for manufacturing

引用

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

来源：评论

学校读者我要写书评

暂无评论

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

引用

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

来源：评论

学校读者我要写书评

暂无评论

PC-based off-line programming in the shipbuilding industry: open architecture

引用

ADVANCED ROBOTICS 2005年第4期19卷 435-458页

作者： Kim, CS Hong, KS Han, YS Pusan Natl Univ Sch Mech Engn Pusan 609735 South Korea Daewoo Shipbldg & Marine Engn Ltd Robot Res & Dev Team Geoje Si 656714 Gyeongsangnam D South Korea Daewoo Shipbldg & Marine Engn Ltd Ind Applicat Res & Dev Inst Geoje Si 656714 Gyeongsangnam South Korea Pusan Natl Univ Korea Sch Mech Engn Pusan 609735 South Korea

In this paper, a PC-based off-line programming (OLP) method using the virtual reality modeling language is proposed. The developed OLP system consists of simulation programs, a block-arrangement algorithm, an optimal traveling-path generation algorithm, an automatic robot program generator and the TRIBON CAD interface. The strength of the developed PC-based OLP system lies in its flexibility in handling the changes in the robot's target objects. The operator can generate robot programs very easily and quickly. Possible applications of the developed OLP can be extended to port automation, container loading/unloading processes as well as painting and grinding processes in the shipbuilding industry.

关键词： PC-based control open architecture off-line programming crane and shipbuilding industrial robot virtual reality modeling genetic algorithm

来源：评论

学校读者我要写书评

暂无评论

True off-line programming based on second generation virtual robot technology

True off-line programming based on second generation virtual...

引用

16th International Symposium of the Danube-Adria-Association-for-Automation-and-Manufacturing

作者： Divic, A. Kohlmaier, M. Krappinger, R. Stopper, M. Stuja, K.

ISBN: (纸本)9783901509469

Robotic manufacturing systems are widely used in industry. These systems are composed of many automated machines, industry robots and sensors. However since these systems are composed of many Robots, which share their workspace, they are very complex to be coordinated. In order to complete the production task accurately, optimized, without any collision and without interruption,of production flow these systems must to be simulated. Nowadays manufacturing processes are supported commonly from the simulation models. This new technology of modelling guarantees a high accuracy finished tasks, optimized flow of production and coordination of all components and Robots too. This paper describes briefly the use of the software tools to simulate and optimize the production process on the flexible manufacturing cell for the various parts. The software used on this research was RobotStudio.

关键词： simulation modelling off-line programming optimizing

来源：评论

学校读者我要写书评

暂无评论

Study on motion simulation of arc welding robot based on UG

引用

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

来源：评论

学校读者我要写书评

暂无评论

An Experimental Method to Calibrate the Robotic Grinding Tool

An Experimental Method to Calibrate the Robotic Grinding Too...

引用

IEEE International Conference on Automation and Logistics

作者： Wang, Wei Yuri, Chao Sun, Kun Beihang Univ Inst Robot Beijing Peoples R China

ISBN: (纸本)9781424425020

A new experimental tool calibration method is proposed to upgrade the accuracy of robotic conformance grinding system. The horizontal axis deflexion error of grinding tool achieved by this new method is below 0.05 degree, and the calibration method turns to be easy and practical. Based on the conclusion of the universal calibration methods for the static contact wheel, the tool of grinding, the authors forward the conception of the new method and prove its validity theoretically, then introduce the robotic system components and set up the experiment system, and make the test grinding experiments to magnify the deflexion. After the process of complete grinding between the contact wheel and the sample piece, the experimental data are recorded and analyzed. After obtaining the grinding tool's current deflexion from the ideal pose, the authors compensate it to the programmed tool pose, and grind the sample piece using the robotic grinding system to verify the accuracy and feasibility of this method. Its conception comes from that if the tool frame has a deflexion from the programmed pose, and this deflexion is trigonometrically related to the depth difference in the grinded sample piece.

关键词： Tool calibration Abrasive belt grinding off-line programming Robotic grinding

来源：评论

学校读者我要写书评

暂无评论

off-line programming trims time and cost of routing application

引用

INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL 2004年第1期31卷 77-79页

作者： [Anonymous]

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：