delmia - welding - centrale nanteschablat/emaro/delmia_welding_2015.pdf · delmia - welding d....
TRANSCRIPT
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Outline of the lecture
2 D. Chablat / S. Amine -- Institut de Recherche en Communications et Cybernétique de Nantes
• Creating a robotic cell
• Defining “tag groups” and “tags”
• Creating a task
• Playing with the inverse kinematics
• Adding an external axis to increase the workspace
• Defining the value of the external axis
• Creating process information
![Page 3: Delmia - Welding - Centrale Nanteschablat/EMARO/Delmia_Welding_2015.pdf · Delmia - Welding D. CHABLAT / S. CARO Damien.Chablat@cnrs.fr Stephane.Caro@irccyn.ec-nantes.fr](https://reader034.vdocument.in/reader034/viewer/2022042503/5a9d90ee7f8b9a28388bb65e/html5/thumbnails/3.jpg)
Create a new process
• Create a new document “type process”
• Activate the workbench “Device Task Definition”
• Save the document as “TP_Robotic_Cell.CatProcess”
![Page 4: Delmia - Welding - Centrale Nanteschablat/EMARO/Delmia_Welding_2015.pdf · Delmia - Welding D. CHABLAT / S. CARO Damien.Chablat@cnrs.fr Stephane.Caro@irccyn.ec-nantes.fr](https://reader034.vdocument.in/reader034/viewer/2022042503/5a9d90ee7f8b9a28388bb65e/html5/thumbnails/4.jpg)
Insert the data
• Two types of element to insert:
– The product “part_to_assembly”
– The resources “Arc_mate_120”
“Robo-WH”
(insert Product) (insert Resource)
![Page 5: Delmia - Welding - Centrale Nanteschablat/EMARO/Delmia_Welding_2015.pdf · Delmia - Welding D. CHABLAT / S. CARO Damien.Chablat@cnrs.fr Stephane.Caro@irccyn.ec-nantes.fr](https://reader034.vdocument.in/reader034/viewer/2022042503/5a9d90ee7f8b9a28388bb65e/html5/thumbnails/5.jpg)
Mount the tool onto the robot
• Use set tool and rotate 90° to obtain
![Page 6: Delmia - Welding - Centrale Nanteschablat/EMARO/Delmia_Welding_2015.pdf · Delmia - Welding D. CHABLAT / S. CARO Damien.Chablat@cnrs.fr Stephane.Caro@irccyn.ec-nantes.fr](https://reader034.vdocument.in/reader034/viewer/2022042503/5a9d90ee7f8b9a28388bb65e/html5/thumbnails/6.jpg)
Test the robot motions
• Move in joint space and Cartesian space
• Find the singular configurations
![Page 7: Delmia - Welding - Centrale Nanteschablat/EMARO/Delmia_Welding_2015.pdf · Delmia - Welding D. CHABLAT / S. CARO Damien.Chablat@cnrs.fr Stephane.Caro@irccyn.ec-nantes.fr](https://reader034.vdocument.in/reader034/viewer/2022042503/5a9d90ee7f8b9a28388bb65e/html5/thumbnails/7.jpg)
Create a Tag group
• Hide the robot and the tool to see only the “part_to_assembly”
• We want to assemble the green parts
• We associate the tag group with the product:
• Rename as “green”
![Page 8: Delmia - Welding - Centrale Nanteschablat/EMARO/Delmia_Welding_2015.pdf · Delmia - Welding D. CHABLAT / S. CARO Damien.Chablat@cnrs.fr Stephane.Caro@irccyn.ec-nantes.fr](https://reader034.vdocument.in/reader034/viewer/2022042503/5a9d90ee7f8b9a28388bb65e/html5/thumbnails/8.jpg)
Change workbench “Arc welding”
• Change the workbench to access to these functions
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Create tags
• Create tag on intersection surfaces
• Assign the group tag “Green”
• Define spacing equal to 20 mm
![Page 10: Delmia - Welding - Centrale Nanteschablat/EMARO/Delmia_Welding_2015.pdf · Delmia - Welding D. CHABLAT / S. CARO Damien.Chablat@cnrs.fr Stephane.Caro@irccyn.ec-nantes.fr](https://reader034.vdocument.in/reader034/viewer/2022042503/5a9d90ee7f8b9a28388bb65e/html5/thumbnails/10.jpg)
Create tags
• Make a preview / test parameters “equal spacing”
• Do the same for the upper part with another tag group “red”
![Page 11: Delmia - Welding - Centrale Nanteschablat/EMARO/Delmia_Welding_2015.pdf · Delmia - Welding D. CHABLAT / S. CARO Damien.Chablat@cnrs.fr Stephane.Caro@irccyn.ec-nantes.fr](https://reader034.vdocument.in/reader034/viewer/2022042503/5a9d90ee7f8b9a28388bb65e/html5/thumbnails/11.jpg)
Create a task for the robot
• Create two tasks for the robot and rename them “green” and “red”
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Add tag to a task
• Use the function “add tag”, select the task and the tag group
![Page 13: Delmia - Welding - Centrale Nanteschablat/EMARO/Delmia_Welding_2015.pdf · Delmia - Welding D. CHABLAT / S. CARO Damien.Chablat@cnrs.fr Stephane.Caro@irccyn.ec-nantes.fr](https://reader034.vdocument.in/reader034/viewer/2022042503/5a9d90ee7f8b9a28388bb65e/html5/thumbnails/13.jpg)
Test the trajectory
• If the trajectory is not feasible, you can change manually the location of the robot by using the compass
• Do not forget to save the initial position of the cell
• Active the real-time simulation
• Simulate
• What kind of problem do you meet?
![Page 14: Delmia - Welding - Centrale Nanteschablat/EMARO/Delmia_Welding_2015.pdf · Delmia - Welding D. CHABLAT / S. CARO Damien.Chablat@cnrs.fr Stephane.Caro@irccyn.ec-nantes.fr](https://reader034.vdocument.in/reader034/viewer/2022042503/5a9d90ee7f8b9a28388bb65e/html5/thumbnails/14.jpg)
Test the trajectory
• Change the posture to see the impact on the trajectory (NUT to FDT)
![Page 15: Delmia - Welding - Centrale Nanteschablat/EMARO/Delmia_Welding_2015.pdf · Delmia - Welding D. CHABLAT / S. CARO Damien.Chablat@cnrs.fr Stephane.Caro@irccyn.ec-nantes.fr](https://reader034.vdocument.in/reader034/viewer/2022042503/5a9d90ee7f8b9a28388bb65e/html5/thumbnails/15.jpg)
Test the trajectory
• Collision detection
• Define two groups:
– Robot and Tools
– Environment
• Activate the detection in “Analysis configuration”
![Page 16: Delmia - Welding - Centrale Nanteschablat/EMARO/Delmia_Welding_2015.pdf · Delmia - Welding D. CHABLAT / S. CARO Damien.Chablat@cnrs.fr Stephane.Caro@irccyn.ec-nantes.fr](https://reader034.vdocument.in/reader034/viewer/2022042503/5a9d90ee7f8b9a28388bb65e/html5/thumbnails/16.jpg)
Make optimal robot placement
• Define a box for the location of the base robot
![Page 18: Delmia - Welding - Centrale Nanteschablat/EMARO/Delmia_Welding_2015.pdf · Delmia - Welding D. CHABLAT / S. CARO Damien.Chablat@cnrs.fr Stephane.Caro@irccyn.ec-nantes.fr](https://reader034.vdocument.in/reader034/viewer/2022042503/5a9d90ee7f8b9a28388bb65e/html5/thumbnails/18.jpg)
Init of the cell
• Insert product “part_to_assembly”
• Insert resources Arc_mate_120”,“Robo-WH” and “ArcPOSITIONER-120”, “ARCTrack-120”
• Mount the tool with the robot
![Page 19: Delmia - Welding - Centrale Nanteschablat/EMARO/Delmia_Welding_2015.pdf · Delmia - Welding D. CHABLAT / S. CARO Damien.Chablat@cnrs.fr Stephane.Caro@irccyn.ec-nantes.fr](https://reader034.vdocument.in/reader034/viewer/2022042503/5a9d90ee7f8b9a28388bb65e/html5/thumbnails/19.jpg)
Move the object
• Goal: Place to “part_to_assembly”
• Tools: Layout toolbar and the compass
![Page 20: Delmia - Welding - Centrale Nanteschablat/EMARO/Delmia_Welding_2015.pdf · Delmia - Welding D. CHABLAT / S. CARO Damien.Chablat@cnrs.fr Stephane.Caro@irccyn.ec-nantes.fr](https://reader034.vdocument.in/reader034/viewer/2022042503/5a9d90ee7f8b9a28388bb65e/html5/thumbnails/20.jpg)
Attach the objects
• Move the “part to assembly”
• Move the “robot” to the “track”
• Attach from the “parent” to the “Child”
![Page 21: Delmia - Welding - Centrale Nanteschablat/EMARO/Delmia_Welding_2015.pdf · Delmia - Welding D. CHABLAT / S. CARO Damien.Chablat@cnrs.fr Stephane.Caro@irccyn.ec-nantes.fr](https://reader034.vdocument.in/reader034/viewer/2022042503/5a9d90ee7f8b9a28388bb65e/html5/thumbnails/21.jpg)
Create the external axis
• Activate the robot and switch to the workbench “Device building”
• Associate the robot with the “ArcPOSITIONER-120” by using the function Define Auxiliary Device
• Make the same for “ARCTrack-120” as a “track” • Check the motion
![Page 22: Delmia - Welding - Centrale Nanteschablat/EMARO/Delmia_Welding_2015.pdf · Delmia - Welding D. CHABLAT / S. CARO Damien.Chablat@cnrs.fr Stephane.Caro@irccyn.ec-nantes.fr](https://reader034.vdocument.in/reader034/viewer/2022042503/5a9d90ee7f8b9a28388bb65e/html5/thumbnails/22.jpg)
Create a New tag group “Line”
• Create tag group and a set of tags
![Page 23: Delmia - Welding - Centrale Nanteschablat/EMARO/Delmia_Welding_2015.pdf · Delmia - Welding D. CHABLAT / S. CARO Damien.Chablat@cnrs.fr Stephane.Caro@irccyn.ec-nantes.fr](https://reader034.vdocument.in/reader034/viewer/2022042503/5a9d90ee7f8b9a28388bb65e/html5/thumbnails/23.jpg)
Create a new program
• Create a new task for the robot
• Add Tag
• Problem: Limits of the workspace
![Page 24: Delmia - Welding - Centrale Nanteschablat/EMARO/Delmia_Welding_2015.pdf · Delmia - Welding D. CHABLAT / S. CARO Damien.Chablat@cnrs.fr Stephane.Caro@irccyn.ec-nantes.fr](https://reader034.vdocument.in/reader034/viewer/2022042503/5a9d90ee7f8b9a28388bb65e/html5/thumbnails/24.jpg)
Optimization in “Robot Arc Welding”
• Compute Rail / Gantry value
• Robot Positioner Programming Select an interpolation Method
Save initial state!
![Page 25: Delmia - Welding - Centrale Nanteschablat/EMARO/Delmia_Welding_2015.pdf · Delmia - Welding D. CHABLAT / S. CARO Damien.Chablat@cnrs.fr Stephane.Caro@irccyn.ec-nantes.fr](https://reader034.vdocument.in/reader034/viewer/2022042503/5a9d90ee7f8b9a28388bb65e/html5/thumbnails/25.jpg)
Add weld action
• There exist several types of welding operations
• We will use a Spot Weld Action
• Add after each motion and define the process information