Delmia - Welding
D. CHABLAT / S. CARO
[email protected] [email protected]
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Mouse usage Use th this is mo mous usee bu butt tton on
When Wh enev ever er yo you u re read ad Select (menus, commands, etc.) Click (icons, dialog box buttons, tabs, location in the document window) Double-click Shift-click Ctrl-click Check (check boxes), Drag
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Outline of the lecture
• 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
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Create a new process • Create a new document “type process”
• Activate the workbench “Device Task Definition”
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Insert the data • Two types of element to insert: – The product “part_to_assembly”
(insert Product)
– The resources “Arc_mate_120”
(insert Resource)
“Robo-WH”
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Mount the tool onto the robot • Use set tool
and rotate 90° to obtain
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Test the robot motions • Move in joint space and Cartesian space • Find the singular configurations
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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:
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Change workbench “Arc welding”
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Create tags • Create tag on intersection surfaces
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Create tags • Make a preview / test parameters “equal spacing” • Do the same for the upper part with another tag group “red”
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Create a task for the robot
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Add tag to a task
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Test the trajectory
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Test the trajectory
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Test the trajectory
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