introduction to powermill robot in subtractive manufacturing
TRANSCRIPT
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Introduction to PowerMill Robot in Subtractive ManufacturingTatenda Mushonga
Technical Consultant
MFG226311
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About me
Tatenda Mushonga
Technical Consultant
Autodesk Inc.
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Class Objectives
• Setting up a robot cell and positioning a part
• Creating basic toolpaths
• Simulating the toolpaths and checking for collisions
• Optimizing for safety and efficiency by applying constraints
• Posting Code
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Industrial Robot
ISO 8373
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Industrial Robots Through The Years: 70s
Stanford Arm, 1974
Infolab.Stanford.eduInternational Federation of Robotics
ABB IRB-6, 1976
SCARA, 1978
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Industrial Robots Through The Years: 90 – 00s
NX-100 Controller
International Federation of Robotics
KUKA KR-1000 COMAU Wireless Teach Pendandt
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Industrial Robots Through The Years: Present Day
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Industrial Robot Supply Trends
Source: International Federation of Robotics
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Industrial Robot Supply Trends By Region
Source: International Federation of Robotics
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Industrial Robot Supply Trends: By Industry
Source: International Federation of Robotics
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Industrial Robot Supply Trends: Growth Forecast
Source: International Federation of Robotics
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Industrial Robot Statistics
73% OF SALES IN FIVE COUNTRIES
China, Japan, Republic of Korea, U.S.A & Germany
ASIAN MARKETS LEAD IN ROBOT DENSITY
• Korea: 553 robots per 10,000 employees
• Japan: 225
• U.S.A: 117
• Germany: 191
EMERGING MARKETS IN THE AMERICAS
Mexico and Canada
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Advantages of Robots in Subtractive ManufacturingMachining Workspace
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Advantages of Robots in Subtractive ManufacturingVersatility
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Advantages of Robots in Subtractive ManufacturingCollaboration
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Disadvantages of Robots in Subtractive Manufacturing
Machinable Materials
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Disadvantages of Robots in Subtractive Manufacturing
Achievable Tolerances
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Case Study: New American Public Art
http://www.newamericanpublicart.com/kempelens-owls
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Case Study: New American Public Art
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Case Study: New American Public ArtCase Study: New American Public Art
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Case Study: New American Public ArtCase Study: New American Public Art
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Case Study: New American Public Art
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Case Study: Artem
artem.com
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Case Study: New American Public Art
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Case Study: Lithias
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Case Study: Symplexity
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Case Study: Guy Martin Design
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Adaptive Machining
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What is PowerMill Robot?
PowerMill is an expert 5 axis CAM software with
great toolpath editing and control
PowerMill Robot is a plugin within PowerMill
that applies toolpaths to a robotic arm
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Supported Manufacturers in PowerMill Robot
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Supported Manufacturers in PowerMill Robot …contd
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Supported Kinematics
End effector on robot + Table(Rotary or Static)
Part on
robot
Robot on
linear track
Robot +
Positioner
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Workflow
No
Calculate
toolpathSelect Robot
Choose Cell
ConfigurationAlign Part In
Cell
Set Initial Joint
Angles And Tool
Axis Constraints
Simulate
Toolpath
Generate
Program
Is
Simulation
Optimized?
Re-calculate Or
Edit Toolpath
Yes
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Some Key Terminology
Quaternions: A compact way to represent rotations in 3D
https://alliance.seas.upenn.edu/~medesign/wiki/index.php/
Courses/MEAM520
Q = (1, 0, 0, 0) represents 0 deg rotation
Q = (-1, 0, 0, 0) represents 360 deg rotation
Q = (0, 1, 0, 0) represents 180 deg rotation about X axis
Q = (0.866, 0, 0, 0.5) represents 60 deg rotation about Z axis
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Some Key Terminology
Euler Angles: Define orientation with 3 rotations about intermediate coordinate systems
https://alliance.seas.upenn.edu/~medesign/wiki/index.php/
Courses/MEAM520
There are 12 conventions, e.g Z-Y-Z, Z-X-Z,
Y-X-Y but we use Z-Y-X in PowerMill Robot
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Some Key Terminology
Singularities
When multiple axes are aligned resulting in infinite number of solutions
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