A collaborative method between CAD and computer-aided robotic software
Publication Date: 2014-Jan-23
The IP.com Prior Art Database
Jiafan Zhang: AUTHOR [+4]
Once the design is changed, the CAD model should be imported again. The engineer should re-add one and re-generate the robot path. In the robotic cell proposal phase, the frequent design changing always makes this repeated work no-value added. On the contrary, if the robot target is modified in the CAR, the design engineer should go back to the CAD environment to change the design, in accordance with the message from robot simulation engineer. Obviously, communication misunderstanding or message transmission errors usually happen. An efficient method is to share the geometric information between CAD tool and CAR tool. The geometric objects in CAD tool can be quickly converted into robot program objects in CAR tool. In the opposite direction, the information about robot program objects, which belong to CAR tool, can be easily reused in CAD tool for helping CAD design. 1. Save effort and timing cost in today’s robot engineering process for all ABB robotic engineering department, by avoiding iterative rounds of CAD model and robot programming modification in low efficiency, achieving robot cell solutions in short leading time, to beat the competition, on cost, productivity, flexibility. 2. Enhance the competition in RobotStudio and CAD tool. 3. Lower the entrance level of industrial robot programming and increase the range of robot applications. 4. Block the commercial software from other competitors.
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collaborative method between CAD and computer-aided
CNCRC/MEC/Xinyu Fang, Jiafan Zhang, Jackson-Haipeng Wang, Liwei Qi, 2013-05-23
Traditionally the robot target points are taught by teach pendant or off-line programmed in the computer-aided robotic (CAR) software. The typical teaching method is a tedious and time- consuming task that requires technical expertise. Off-line programming in CAR has become an invaluable tool, which enables modeling, simulation and robot programming. As the robot has to be simulated with recognized environment, the foreign CAD model could be imported into the CAR software, to implement the cell or line level simulation. However, the imported CAD model is only the geometrical objects. Although some advanced CAR software supports to teach the robot target points by capturing the geometrical features, yet this capture function is not as powerful as that in the CAD software. For example, it is difficult to capture the center point of this two-finger gripper, as shown in Fig.1.
Fig.1 The tool center point is set at the center point between two fingers
As a result, the auxiliary line is introduced to help generating a robot path based on a certain geometrical feature, as show in Fig.2. However there is no any bridge between this auxiliary line and the geometry in any CAR software. Once the design is changed, the CAD model should be imported again, and the existing auxiliary could not be synchronized automatically. The engineer should re-add one and re-generate the robot path. In the robotic cell proposal phase, the frequent design changing always makes this repeated work no-value added.
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Robot path Robot path
Fig.2 Auxiliary line to help generating robot path based on a certain geometrical feature
On the contrary, if the robot target is modified in the CAR, the design engineer should go back to the CAD environment to change the design, in accordance with the message from robot simulation engineer. Obviously, communication misunderstanding or message transmission errors usually happen.
Fig.3 illustrates the work flow of robotic cell design today. Due to lack of effective communication between CAD and CAR, this process normally will contain amount of interactive check-and-change loops, accompanied with checking the robot reachability, collision and cycle time performance.
Fig.3 Traditional procedure to combine CAD and CAR tool
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On the other hand, some CAD-based programming methods are proposed in prior art. One way is to extract the information from the CAD and convert it into robot commands in CAD software directly. It is convenient for some medium or small enterprises, where the skilled robot programming work is a lack. Simultaneously, this method fully takes advantages of CAD software when design changing occurs However this method loses the advantages in the CAR software, namely robot simulation, cycle time simulation, and collision de...