Delmia - Welding - Centrale Nanteschablat/EMARO/Delmia_Welding_2015.pdf · Delmia - Welding D....

Delmia - Welding

D. CHABLAT / S. CARO Damien.Chablat@cnrs.fr Stephane.Caro@irccyn.ec-nantes.fr

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

Create a new process

• Create a new document “type process”

• Activate the workbench “Device Task Definition”

• Save the document as “TP_Robotic_Cell.CatProcess”

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)

Mount the tool onto the robot

• Use set tool and rotate 90° to obtain

Test the robot motions

• Move in joint space and Cartesian space

• Find the singular configurations

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”

Change workbench “Arc welding”

• Change the workbench to access to these functions

Create tags

• Create tag on intersection surfaces

• Assign the group tag “Green”

• Define spacing equal to 20 mm

Create tags

• Make a preview / test parameters “equal spacing”

• Do the same for the upper part with another tag group “red”

Create a task for the robot

• Create two tasks for the robot and rename them “green” and “red”

Add tag to a task

• Use the function “add tag”, select the task and the tag group

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?

Test the trajectory

• Change the posture to see the impact on the trajectory (NUT to FDT)

Test the trajectory

• Collision detection

• Define two groups:

– Robot and Tools

– Environment

• Activate the detection in “Analysis configuration”

Make optimal robot placement

• Define a box for the location of the base robot

Add an external axis for Welding

D. CHABLAT / S. CARO Damien.Chablat@irccyn.ec-nantes.fr Stephane.Caro@irccyn.ec-nantes.fr

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

Move the object

• Goal: Place to “part_to_assembly”

• Tools: Layout toolbar and the compass

Attach the objects

• Move the “part to assembly”

• Move the “robot” to the “track”

• Attach from the “parent” to the “Child”

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

Create a New tag group “Line”

• Create tag group and a set of tags

Create a new program

• Create a new task for the robot

• Add Tag

• Problem: Limits of the workspace

Optimization in “Robot Arc Welding”

• Compute Rail / Gantry value

• Robot Positioner Programming Select an interpolation Method

Save initial state!

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