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MAHARAJA AGRASEN INSTITUTE OF TECHNOLOGY

ROBOTICS PRACTICAL FILE

NAME:_________________________________________________ENROLMENT NUMBER:____________________________________BRANCH:_______________________________________________GROUP:________________________________________________

EXPERIMENT 1AIM: To import a robot in workspace, use split screen and different views and make solid objects with and without Boolean operations.

APPARATUS REQUIRED: Desktop Computer, WORKSPACE 5 Software

INTRODUCTION: Workspace is the area where we are working on and where we want to design the movement of the robots. This software is to design the robot industry and also used for mechanism and object simulation.Different uses of this software are: IMPORT CAD DATA FROM OTHER CAD SYSTEMS MODEL WORK CELLS DIRECTLY IN WORKSPACE USE ROBOTS, MECHANISMS, OR TOOLING FROM THE WORKSPACE LIBRARY, MODEL YOUR OWN MECHANISM AUTOMATICALLY GENERATE ROBOT PATHS GRAPHICALLY EDIT ROBOT PROGRAMS OPTIMIZE FOR CYCLE TIME, REACH, COLLISION DETECTION GENERATE ROBOT PROGRAMS OFF-LINE ( NOT AVAILABLE WITH US) DOWNLOAD PROGRAMS TO A ROBOT CONTROLLER WITHOUT THE NEED FOR POST-PROCESSING (NOT AVAILABLE WITH US)

Different Coordinate systems:Working Co-ordinate System (WCS):A Working Co-ordinate System (WCS) is a local co-ordinate system and it simplifies entering position or vector information while creating models. Multiple Working Co-ordinate Systems can be created using Workspace, however, only one can be active at a time. The creation of shapes, solids and arcs use the active WCS to determine the position and orientation of the object being created.

World Co-ordinate System:The World Co-ordinate System is known as the Global Co-ordinate System and adopts a right-handed rectangular cartesian co-ordinate system where the x, y, and z-axes are as shown.

PROCEDURE:

Opening Workspace 5:Start Menu>All Programs>Workspace 5. Click on it and enter CANCEL; DEMO version opens.

Screen Layout:

Icons at the top of the screen allow quick access to the functions stored within the Menu Toolbar. Using these icons it is possible to create shapes, change angles and save work along with various other functions. Directly under these icons, there are two separate windows, the Project Window to the left (tree menu) and the Main Screen to the right.The Project Window is used to give a quick overview of the various projects that are opened e.g. simulation, tools, animation etc. This Window provides project information by simply clicking right mouse button which activates additional menus with various options. The Project Window also allows direct control of the overall model or models being used e.g. movement routines can be made or altered though this Window.The Main Window on the right hand side of the Project Window is the area where all robot models, tools, objects and anything relating to these are displayed.The last Window under both the Project and Main Windows is the Command Line Window that allows instructions to be given in the form of typed commands as opposed to using mouse actions. The Command Line Window can also be used to enter in VBA (Visual basic Applications) commands or macros. Many of the available commands allow direct control of Workspace 5 models.

Importing a Robot:There is a library of common robot models. These are accurate, Kinematics models based on the structure and specifications of the particular industrial robot.

To import a robot go to File>Open>Workspace 5>Robots>Fanuc>Fanuc A520i.

To combine two robots in a cell, perform the above steps and then do the following:Go to File>Insert file>Fanuc A600 (set the offset value, say x=1000, otherwise the new robot will be positioned on the old one).

Using Split Screen:To split the screen, import a robot, click and drag the splitter above the scroll bar(right top), and position it.

Similarly, the screen can be split vertically using the split icon on horizontal scroll bar (bottom left).Different views can be obtained by changing the view angle in different screens from the view window.

Boolean Operations:The following operations are made:Make a rectangular thin section and a cylinder of desired cross section using the create icon.Select and right click the object to change properties such as dimensions, positions etc.

Change their position and properties accordingly and we get

Now, go to Modify>Boolean>Subtraction, then select the object to be subtracted. The following object is created.

EXPERIEMENT 2

AIM: To make groups, attachments, layers and create our own robot in workspaceLearn to modify objects, attachments and layers.

APPARATUS REQUIRED: Desktop Computer, WORKSPACE 5 Software

PROCEDURE:

1. GROUPSStep 1- Make 2 boxes as shown in figure below by using CREATE BOX tool. Right click on each box and select PROPERTIES to change dimensions and positions of boxes.

Step 2- Make table using CREATE BOX and PROPERTIES tools and align each box to form table by changing positions and dimensions.

Step 3- Select CAD option (shown in figure below)

Step 4- Select GROUPS and then properties

Step 5- A dialogue box named GROUPS will appear on screen. Left click on the name for some time it will become active, then change name (as shown in fig below).Then click on OK. Now the whole group acts as one.

2. ATTACHMENTS

Step 1- Make two boxes and select the smaller one, it will behave as a child.

Step 2- Select MODIFY and then select ATTACH from drop down list.

\

Step 3- Select bigger box and right click on it. Select MOVE command from list.

Step 4- Click and drag the mouse to left side on screen as shown below

Both components have moved.

3. LAYERS

Step 1- Right click on LAYERS option and then select New Layer option. A new layer named Layer 1 will appear (as shown in the figure)

Step 2- Now right click on Layer 1 and select Set Current option from drop down list

Step 3- Make any two objects (At present we are working on Layer 1)

Step 4- Now right click on Layer 0 and select Set Current option. Now make cone in layer 0.

Step 5- Select and drag one object from one layer to other

Step 6- Now right click on Layer 1 and then properties from drop down list. A box named Layers will open and then locked the layer 1 as shown in figure below. (IMP NOTE- One layer remains unlocked even if u try to lock it, then system will show an error and also one cannot lock active layer)

Step 7- When one lock a layer then objects present in that layer will disappear (Fig below)

AIM: Learn to modify objects, attachments and layers.

PROCEDURE:1) Open Workspace 5 software by double clicking on it.2) To make a box.

Click on the blue button on the toolbar (3rd line from the top), then click at any three points to make a cuboidal box.

3) Any of the properties of the object can be seen or changed by clicking on the created object and selecting Properties.

4) Make another box by following the steps in step 2.

5) To change the prevalent World Co-ordinate system and form a new work co-ordinate system go to Options >> WCS >> 3 points as shown.

6) TO CHANGE THE COLOR OF THE OBJECTRight click on the object >> Properties >> Color >> Choose the color >> Click on the object.Following is a in-program window :

7) To view the wire frame view of our object click on the Wireframe button on the toolbar (Next to blue button utilized in step 1).

8) For deleting any of the objects, right-click on the object and choose delete.

9) To change the location of a WCS.

Go to Options >> WCS >> Options >> Properties and set the values according to the need.

Then, if for exam[ple we set the above values, the Co-ordinate system would move as follows.

10) Please familiarize yourself with the WCS by changing the values in Properties section and noticing the effects.

11) To remove any Work Co-ordinate system : Go to Options >> WCS >> Options >> Select the WCS to be deleted and click Delete.

12) Working with Object Frame.Each CAD object has a single implicit Co- ordinate frame (CF) associated with it.

This CF is used when assessing the object position and orientation.

a) Create a cylinder by selecting a cylinder from the toolbox ( 3rd line from the top ) and then choosing centre of the cylinder followed by its radius and finally its height. Then, change position of its centre to (0,0,0).Please follow the figure for any further understanding.

b) To create a new frame.Right click on the object >> Properties >> Frames >> Add.Default_Object_Frame is the default name given to the frame.

c) Following the creation of a frame, its location can be adjusted by changing the values of X,Y,Z in properties.

13) For Scaling the object following steps need to be followed. Go to Modify on the top toolbar >> Scale >> Then enter the scaling factor as shown.

14) To move or copy the object to a new location :Right click >> Copy, Move >> Base point >> Next point.

14A) Alternately.Click on Modify >> Copy >> Copy and Translate >> Drag the copy to create one.(Absolute values can also be set from the location window as shown in figure)

It is suggested that previous step be repeated and effects bt notes.

15) Similarly, Move command may also be used from Modify drop down menu, and properties also be set in the same way as for the Copy command.

16) Now, follow the following steps.New >> File >> Create >> Rectangle>> Properties >> 0, 0, 0.

17) Now, to offset the created object, right-click on it and then select Offset and set the desired value >> Select the outside to be offset.

18) Object Snapping.Go to Options >> Object Snapping >> Active Snap Properties.Then click the Snap properties as shown in the figure.

Or we may make use of icons also.

19) To make a point on the face of the object using mid-point snap.Select Snap option from the toolbar >> Select Mid-point from the resultant dialog box.Then a cylinder may be placed on the mid-point as shown.

20) Following the creation of the cylinder the mid-point line may be deleted as shown.

21) For further understanding of the Snap command, following steps may be used.a) A cone is created separately as shown.

b) Use the Snap command to place the created cone on top of the cylinder as shown.

22) For finding and displaying the dimensions of the created objects.Options >> Dimensions >> Show dimensions.

Same can also be achieved by the use of Snap command.

23) For Textures, Edit>> Selection modes >> Face.

24) Click as shown.

25) Select the right location and then Select texture > Modify > Remove.

26) Text may be written in Paint and then added to main scheme in the following way.

And such would be the result.

27) For aligning the faces.Modify >> Align faces >> Select the first plane>> Then the second on top, second has moved.

EXPERIMENT 3

AIM: To create an AUXILIARY AXIS & create a ROBOT MECHANISM.

APPRATUS REQUIRED: Desktop computer, WORKSPACE 5 software.

PROCEDURE:

Auxiliary axis:Here a turn table was used to control the arm of the robot selected.Now, Insert file >> robot- ABB-6400_2.4 (or any other robot of your choice) >> ZOOM IN to fit.

Now looking at the top of robot arm the turntable was placed directly underside it and a red part on the turntable was made as shown.

So, turntable base was selected as parent and turntable top as child. A joint of top with base, was made. Robot>> properties >>Kinematics>>no of auxiliary axis = 1. We have now one auxiliary axis assigned with the robot create>>joint. The following screens opened >> click ok.

There are two main ways to control a robot, i.e. online or offline. Online programming is usually performed using a teach pendant. A teach pendant is a hand held device connected to the robot controller via an umbilical cable which enables the user to manually drive the robot to the desired positions. These positions are then stored in the controller memory for recall as required. In a similar way Workspace 5 allows the user to control a robotic model with a simulated teach pendant. In Workspace 5 the teach pendant can be activated by either selecting the view/pendant menu or by pressing the letter p on the keyboard. (Please note you can only open the teachPendant once you have previously opened a robotic model. Also the teach pendant is robot specific).

Looking at Figure, it can be seen that the joint values 1 to 7 refer to the positions of the joints of the robot model. To accurately position and orientate an object in 3D (three dimensional space) a robot must have 6 DOFs (degree of freedom). This means that it must be able to move the tool to an X, Y, and Z position and then rotate the tool about X, Y, Z to provide the correct orientation. The second column of values in the pendant menu of Figure provides the Cartesian XYZ position of the robot gripper followed by ABC, its three orientation angles. Workspace 5 allows these values to be entered directly.Several further options are available using the teach pendant. These are:Follow Mouse When this box is checked the robot moves to the location of the mouse click in the main view window, if it is possible to do so.Home button Repositions the robot to its home position. Usually the home position is the best park position for the robot when it is not in use. This reduces the amount of tension placed upon the robots gears and joints.Motion Type The user can set the motion type to either joint motion or linear motion via this drop down menu.Zero button Resets all the joint values to Zero

RESULT: Auxiliary axis was created and robot mechanism was studied.

EXPERIMENT 4

AIM: To study pendant, robot envelops, creating and modifying G.P and making the robot follow it.

Requirements: Computer, Workspace 5.0 software

Theory:Envelope : It is the volume enclosing all the possible positions of the end point of the robot tool.Geometric points : They are of 2 types assigned and unassigned.

Un assignedThe GP is created without an active Robot in the project

AssignedThe GP is created with an active robot ort mechanism present FLY BY OPTION POINT TO POINT The robot typically stops at each target point velocity at that point = zero. POINT TO POINT The robot typically stops at each target point velocity at that point = zero.

Procedure:

Pendant and EnvelopeInsert robot ABB 2.4

View>>pendent

Change the joints up & down

The absolute values are also changing

Another way : Click on the joint>> this dialog box opens up>>put your value

The position has changed

Change the absolute>> a number of joints are moving

A new position note the end position is not changing by changing A / B / C

Home>>relative>>click on tx = translation along x direction takes place ( avoid using the relative option for now)

Follow mouse option>> where ever you click the robot moves there (a very powerful tool)

Robot>>envelope

2 joints>>1,2 >>ok

This is created

Remove the envelope>> again put new envelope>> change the joint numbers

We get this

Now use 3 joints option

We get this

Joint 2 70, joint 2 now put 80, the robot does not move as we have reached the joint limit of workspace.

Hide envelop

The envelope has now been hidden

Creating and modifying geometric points

Click three times in the cad view port we see a GP made

Load A Robot

Create box use I command

Create GP

I command>>no path box opens up >> snap tool bar end point>> click on one>>apply>>ok

We have similarly made 4 GP`s at 4 corner positions of the box.

Create GP at Robot Location Load robot>>view>>pendent>>learn GP>>No path >> OK

Made 3 GP`s>> home to robot

Close pendent

Right click on GP>> Move to

Robot has moved to second location

Creating GP`s on edge load robot>>make a box>>edit>>selection mode>>edge

Select edge>>create GP on edge

This dialog box opens up

Create>>write 500 as shown>>create

1000>>create

Creating GP`s on face>>selection mode Face

Select face>>create GP on face

U= 0.45>>v = 0.45

Another GP U = 0.91, V = 0.81>>create>>close

Paths and Simulations Load robot>>pendent>>learn GP>>new>>name path1

Made 3 GP`s in the path

In the tree we can click and drag the GP`s. We could have also made GP`s first, then path and could have dragged the GP`s in the Robot Path

The properties can also be changed of GP`s.

Select all GP`s using shift>>properties>>motion>>joint>>speed = 50 >>apply

Right click on robot>> simulate

Main menu>>simulate>>play simulation the robot will move through GP`s.

Discussion: We have learnt to make the G.P for the corner points and edges and to move the robot using fly by and about envelope of the robot.

EXPERIMENT NO.5

AIM:[A] To get to know TCP and collision detection. [B] To optimize cycle time using FLYBY option.[C] To study the behaviour of VBA (Visual Basic Application).

APPARATUS: Computer equipped with software Workspace 5.0.3.1.

THEORY: TCP stands for Tool Centre Point. It can be defined as trajectory plotting activity which allows a visible trail to be created from the robots active tool frame. It can also be referred to a mathematical point coinciding with the origin and which helps the robot to perform its necessary actions. When the robot itself is shipped from the factory, it needs to know something about its own dimensions, so normally there will be a centre point in the centre of its wrist which is the origin or (0,0,0) point. The robot knows where that point is, because it is defined in the factory for that particular robot arm, but it does not know what kind of tool will be bolted onto it. A particular robot could be used for welding or material handling or gluing or a myriad of otherapplications- and each tool has unique requirements regarding where its tool needs to contact the work pieces that it's dealing with. For example- For a material handling robot, the TCP may be at a particular point on the gripper.

Collision detection is a term pretty common in the area of industrial robotics. It refers to detection of the physical interference of the robotic arm with the object positioned within the work volume of a robot.

FLYBY is an option used in Workspace software which aims to minimize the operating cycle time. In a regular PTP control the robot on reaching its destination tends to slow down and eventually loses on some velocity and time. FLYBY on the other hand enables the robot to take a smooth curve along such corners which eventually helps the robot in maintaining a constant velocity.

PROCEDURE:[A] To get to know TCP and collision detection.1. Open file and then click on OPEN.

2. Click Robots and then Fanuc. In Fanuc choose Fanuc M6i.

3. In the Simulation window right click on Tool Framess Nil option and click on Visible option following which apply the changes made by clicking on apply.

4. In the View option click on Pendent and then click on Learn GP option.

5. After clicking Learn GP select New in Select Path. A new window will open up shortly by the name Create Path for Fanuc M6i. Give a legible name to the path say path1.

6. On clicking OK a new path is generated and it can be easily viewed in the Simulation window under the icon of path by the name path1 and a GP can also be seen in the icon GP by the name GP0001.

7. Screenshot of the same can be viewed.

8. The step number 6 is carrying the detail of generating GPs. Again click on Learn GP in the Pendent and in the Select Path window click on OK.

9. On clicking this option OK it is seen that the number of GPs have increased by one under the GP icon. Continue with this step till a total of seven GPs are obtained.10. After the required no. of GPs are obtained using the SHIFT key select all the GPs and drag into the path icon. Once all the GPs are moved then proceed to the next step.

11. Right click on Fanuc M6i and select Simulate. It will be observed that neither any simulation is being run nor any detail has been mentioned regarding the trajectory being followed by the robotic arm.

12. To view the Simulation modify the GPs by right clicking on them in the Path icon and selecting their properties. One example has been shown and rest can be derived from the same.13. In the GP properties select the position icon and change the values which earlier were equal to zero and finally click on Apply. Proceed for changing the next GPs in the same fashion.

14. The following screenshot shows exactly how the window would appear with different GPs.

15. Now run the simulation by clicking on Simulate>> Run Simulation.16. Now to visualize the path click on Robot>> Properties>> TCP Trajectory and click on plot colour and change it to red. Now run the simulation and observe the change.

17. A red coloured trajectory is clearly obtained.

18. Now make a cylinder as shown. Since it does not intersect with the trajectory defined modify its dimensions by right clicking on it and varying its properties.

19. See whether it intersects or not.

20. Now click on Options>>Collision Detection.

21. Opt for the same changes shown in the screenshot below and apply them.

22. Now run the simulation and notice the change. A red colour would be visible which is an indicator of collision. Again in Options>>Collision Detection>>Report all the details can be seen.

PROCEDURE [B]: To optimize cycle time using FLYBY option.

1. Open the file FlyBy>>Using FlyBy.wsp>>Open.

2. The following window opens up.

3. Play simulation and note down the run time as shown in the right hand side corner of the screen. It clocks up to 9.01 seconds.4. Right click on the GP002 and alter its properties. Click on Motion and enable FlyBy. Rest follow the screenshot for other parameters. Please change the properties of GPs from 002-004 excluding the last GP.

5. Now play the simulation. This time the time which has been recorded is 8.12 seconds.

6. Invoke the changes in the GP004 as shown. The percent criterion has been used and the distance percentage has been kept at 100.

7. Finally the time recorded on running the simulation is 7.42 seconds.8. In Robot>>Properties>>Fly By Data change the value for Level1 from 1 to 50.

9. Change the properties of GP002 by selecting Level 1 in Motion command window.

10. On running the simulation the time recorded id 7.23 seconds.

11. Bring about certain changes in the three GPs from 002-004 by deselecting the distance mode and affixing the velocity percentage equal to 70%.

12. On running the simulation the time recorded is 6.94 seconds.

13. Hence this is an option of optimizing the cycle time. 14. Thank You.

PROCEDURE:[C] Study of VBA BehaviourStep 1: Load the default class module.1. Open workspace 5.0 (Demo Version) as directed in the previous experiments. Go to options>>visual basic.

1. Go to file>>import file>> select behaviours.

1. Select default behaviour folder and open the default behavior.cls file.

1. From the Project-worksp1 tree in the left, select class modules>>default behaviour.

Step 2: Apply a rotating behaviour to control a rotating mechanism.1. Make a turntable as shown.

1. Add the turntable to the mechanism. Click yes.

1. Then go to options>>visual basic. A new window will open.

1. Right click on worksp1>>import file>>workspace5 folder>> Behaviors>> RotateMechanismBehavior.cls. Click to open the file as shown in the figure.

Step 3: Applying the Visual Basic code to the mechanism.1. In the Visual Basic window, right click on module>>import file>>robot language>> open WorkspaceRobotLanguage.bas.

1. In the Project-worksp1 tree on the left, right click on worksp1>>insert>>module.

1. Click on module1 Rename it to turntable_track.

1. Write the code in the window as shown in the figure.

1. Open file>>select Close and return to workspace. This will take you back to the workspace window.

1. In the workspace window select Simulation>>VBA track>>VBA track.

1. Click on Add>>click on subroutine drop down menu>> select TurntableMechanismTrack. Check In Simulation>>OK

1. Click on Behaviors>>right click>>behaviors

1. Click on Add>>fill as under>>OK1. Right click on Turntabletrack under the VBA tracks option>> check simulate.1. Open the Simulate>>simulate options>> timing change 100 ms to 10 as shown1. Simulate. Simulation will run.1. Right click on VBA Track>>Modify code add more zeros to delay time in milli seconds

1. Simulate>> check the time delay changes which have taken place

1. This ends the study of behaviours of VBA.

EXPERIMENT 6

AIM: To attach a tool to the robot and to perform water jet machining and arc welding using a robot.

Apparatus Required: Desktop computer, WORKSPACE 5 software (DEMO version).Procedure: File>>Insert File

Workspace 5 > Tools > Water Jet Nozzels > Flow > Flow Gun_001We get this,

Insert File > Workspace 5 > Robots > ABB > ABB IRB4400_60

OffSet X=1000; Click OpenBoth Objects are in Workspace,

To attach this tool,Simulation > Tools. Then Select Tool, Right click and Click Attach to robot.

This is how it looks after attaching the tool.

To Detach tool from Robot,Simulation > Robots. Select Robot ABB IRB4400_60, Right click and Click Detach Tool.

Now,Cad > Select Part of tool using Shift+Click > Attach > Parent - Flow Tool

Right Click on Flow Tool > Properties > PositionChange X=12722.50The tool has moved Since it has been detached from the robot.

Creating a Water Jet tool application using an ABB robot

Open > Workspace 5 > Examples > Undefined Tools > Water jet tool-Flow Paser Waterjet

Change Color of waterjet base to RedCad > Attachments, select Waterjet, Right click > Properties > ColorSelect Red Color.

Here, End Object is Cylinder 21.

Select base of tool > create > tool

Start Object = Waterjet;End Object = Cylinder 21VBA off

In Simulation Tab, Start Frame > Right > Right click and Click Properties.

Load ABB Robot

Waterjet > Right Click and Click Attach to Robot.

Tool is now attached. Simulation > Tools > Waterjet > Start frame > start > Right Click and click Properties >Relative to self > Z-axis.

Rotation has taken place.

Offset distance is required.Tool frame > Waterjet > Properties > Visible > Relative to self > 60 on Z.

Make Box and create Work cell and make it Red.

Edit > Selection Mode > Face. Create > GP > Create GPs on Face

Manual > New Path > Path1

U-0, V-1 > Create; U-1, V-1 Create U-0,V-1 > Create; U-0, V-0 > Create

View > Pendant > Home

Move robot randomly at angles as shown > learn GP

Drag drop GPs from GPs to Path1 and in path1

Option > Visual Basis

Right Click > Import File

Workspace 5 > Tool Behaviors > waterjet > WaterjetTool.cs

Worksps1 > Classmodule > WaterjetTool > Right Click and Click View Code.

Tool > Waterjet > Right Click and Click Properties.

Click as Under

Actions > New action icon > Tool action > Ok

Water jet on > Ok

Apply>>next>next till last Gp1>>water jet off>>ok>>apply

Right click on robot to set simulation on > Simulate

Blue Color is of water coming from 60mm away tool.

Advanced method of Arc Welding using an ABB robot

File > open Examples > Undefined tools > Arc weld tool-Binzel Cat241d

Select base > Create tool. Confirm End Object is Nozzle

Insert Robot.

Attach Tool to Robot

Make Box

Edit > Selection mode > Face

Create GP on Face

New > Manual > Path1 5 GPs are made

View > Pendant > Learn GP > Next GP Joint 2 = -10, 3 = 30 , 5 = 10

VBA > Insert file > Tool behaviors Arcweld > ArcWeldTorch.cs > View Code

File > Close and Return to Workspace Tools > CAT241D > Properties > Click as under

Tool Frames > Relative to self > Put Z=170

Simulate

EXPERIMENT 7AIM: To attach an Arc Welding tool to robot and Automatic Path Generation of robotic arm. APPARATUS REQUIRED: Desktop Computer, WORKSPACE 5 Software.THEORY: Workspace is the area where we are working on and where we want to design the movement of the robots. This software is to design the robot industry and also used for mechanism and object simulation.Different uses of this software are: IMPORT CAD DATA FROM OTHER CAD SYSTEMS

MODEL WORK CELLS DIRECTLY IN WORKSPACE

USE ROBOTS, MECHANISMS, OR TOOLING FROM THE WORKSPACE LIBRARY,

MODEL YOUR OWN MECHANISM

AUTOMATICALLY GENERATE ROBOT PATHS

GRAPHICALLY EDIT ROBOT PROGRAMS

OPTIMIZE FOR CYCLE TIME, REACH, COLLISION DETECTION

GENERATE ROBOT PROGRAMS OFF-LINE ( NOT AVAILABLE WITH US)

DOWNLOAD PROGRAMS TO A ROBOT CONTROLLER WITHOUT THE NEED FOR POST-PROCESSING (NOT AVAILABLE WITH US)

AUTOMATIC PATH GENERATIONWe can choose to use either Automatic Path or Semi-Automatic Path. Automatic Path creates all of the GPs in one step. Semi-Automatic Path allows the user to accept, reject, or edit each GP as it is created. PROCEDURE1. Opening Workspace 5:

Start Menu>All Programs>Workspace 5. Click on it and enter CANCEL; DEMO version opens.

2. Open Examples

3. A robot and part comes on the screen as shown:-

4. Paths>>right click>>new5. Path1>>generic automated6. Select top face of the work piece>this dialog box opens:-

7. Constraints>>this dialog opens up

The GP Constraints for Feature dialog allows us to set constraints on two of the axes of the GPs that are created relative to the feature. This gives control over the orientation of the GPs as they are created. The axes of the GPs can be set Normal to, Parallel to, or Tangent to, the Part Surface, the Adjacent Surface, the Part Edge or the axes of the World Co-ordinate System.8. Modify changes as shown

9. ADD>> CLOSE10. Create>>gp`s are now created as shown:-

11. Close>>set to simulation mode >> Simulate.Creating a Semi-Automatic Path on a Cad Object Semi-Automatic Path Generation allows us to Accept, Reject or Edit each GP as it is created. The procedure is very similar to the procedure for Automatic Path Generation.1. Open the same example.2. Generic automated>>path1>>this dialog opens up

3. Select an outer edge>>constraintsThe Feature and Point Number boxes give the Current GP number and the Feature it is associated with.

The Forward and Reverse Arrow buttons moves the robot to the next or previous GP in the path,

and the To Preview button returns the robot to the original position of the GP after the robots position has been edited using the pendant . Once the Pendant is open the Forward arrow button moves the robot to the initial location of the first GP in the path. We can then edit the position of the robot with the pendant and set the motion type. Once the position and motion type are set, Learn GP creates the GP and places it in the path. At this point we can either hit the Forward Arrow button to move to the next GP in the path, or further edit the current GP and then hit Modify GP to store the changes. 4. Click on arrow and check that the robot is moving to next Gp.

5. Change B value to 30 for a particular Gp

6. Change this motion type to linear i.e. it will now take shortest path

7. Modify Gp`s>>Simulate

Advanced method of Arc Welding using an ABB robotThe ArcWeldTorch behavior is used to simulate the yellow sparks that fly from the end of the arc weld torch during welding.1. File>>open>>examples>>undefined tools>> this arc weld tool

2. Select base >>create tool3. Confirm, End object is nozzleFill this dialog as shown and remove VBA generation at his point

4. A tool has now been created with a default Start and End frame position.5. Insert robot.

6. Attach to robot (its not necessary to position the robot at some other location Here we had taken it at x = 2000 mm)Tool is attached as shown

7. Lets create the Welding cell and GPs.8. Check the dimensions from help, or create your own9. Make box10. Edit>>selection mode>>face11. Create Gp on face12. Path1 >>Manual13. 5 gp`s are made using U and V values14. Pendent >> learn Gp>> next Gp Joint 2 = -10, 3 = 30 , 5 = 10

15. Copy Gp`s to have a sequence as shown

16. VBA>>insert file>>tool behaviors>>arc tool>> view code

17. File>>close and exit. Tools>>CAT241D>>properties> click18. Note this distance between the nozzle tip and WCS =~170 mm

19. Tool frames>> put this value in Z20. Simulate

EXPERIMENT 8

AIM: To optimize cycle time using FLYBY OPTION.

APPRATUS REQUIRED: Desktop computer, WORKSPACE 5 software (DEMO version).

Theory:

Optimizing the cycle time is one of the key design parameters in most work cells. Decreasing the cycle time obviously can lead to greater production.

Point accuracy is the criterion that defines when the robot has reached the target point. There are two types of parameters that can be used in setting point accuracy in Workspace:1) Distance - represents the radius of an imaginary sphere with the center as the target point. The distance criteria can be set as mm, % or Level.2) Velocity criterion - while approaching the target, the robot decelerates. The critical velocity is set as a percentage of the velocity set for this GP move. A criteria of 100% corresponds to no deceleration.Important Key Points: Flyby motion will be turned off in case of circular motion. If the motion type changes before and after the flyby zone, flyby will be turned off.

PROCEDUREStep 1: Open the workspace by clicking on Workspace Icon on the Desktop

Step 2: Insert the robotBrowse the workspace5 directory and in the Examples folder, select the folder Flyby and open the file within it called Using FlyBy.wsp.

STEP 3:View the postion of the end effectorView the pendant by clicking P key. The pendant displays the position of the end effector related to robot base.

End Effector

STEP 4: Run Simulation and check cycle time To Run Simulation click on Simulate Tab then click on play simulation To check Cycle Time view the lower right hand corner.

Simulate Tab

CYCLE TIME

Step 5: Optimize cycle time by using flyby option Analyzing GP properties and turning on the flyby option. Go to Project window to the left(tree menu). Right Click on GP002 and click on properties . Repeat the steps for the subsequent GPsNOTE: The first and last GP cant be modified.

TREE MENU

S

Step 6: Simulate and check machining time:

CYCLE TIME

RESULT:The cycle time was reduced from 9.01 to 8.71 seconds .Robotics Practical File