This article has been starting in the personal micro-channel public number: Industrial robot simulation and programming (Micro Signal: IndRobSim), welcomed the attention!
Industrial robots are handling the most common form of process applications, covering almost all occasions robotic applications. Essentially speaking, all applications are all handling robot. In the real robot workstation, the most common include handling machine loading and unloading, loading and unloading lines, etc., as well as a variety of transportation, that is, the robot palletizing and unstacking process applications. This issue, first of all to tell you about a simple software application DELMIA robotic handling virtual simulation, with emphasis on robotic handling instruction "Pick" and "Drop" add instruction.
First, the handling station layout
Simply create a robot handling station, the choice of the robot IRB 640. Add two simple table, a rectangular parallelepiped, the other is a cylinder and create the robot at a central position of the face respectively two stage transfer process to fetch coordinates, the robot axis direction consistent with the default TCP axis direction. A box member porter then placed at a central position of a rectangular parallelepiped table face.
Second, the Hand tool mounted to the robot
In the workstation insertion tool to create a robot gripper, and then use the "Set Tool" command to the robot end flange attached to the hand tool.
Third, the robot teaching program
Transfer process using a two point coordinates added for handling robot teaching program, select the point in the process two "Process" type of operation, other points are the "Via" type. It may not be used when handling the teaching process point coordinate, and direct manually adjust the position and orientation of the robot be taught, just so teach a robot position is not so accurate it.
Fourth, the robot placed with a workpiece gripping add instruction
Process 1. Tap type robot gripping the workpiece point in the process, then tap Op top of the pop-up dialog box Add a Process Operation, the instruction fetch Robot Actions click "Pick", and moved to Operation Members under column, click the next button.
2. The motion to set the starting point dialog box under CloseGripper Properties tab, click the Home Name robot gripper "Close" running state after setting the starting point Value running time of 1s, click the Next button.
3.PickPart属性标签下Part used to perform grab后点选机器人抓手工具，Part(s) to grab后点选要抓取的工件，然后点击Finish按钮，机器人抓取工件指令添加完成。
4.参考上述步骤，为机器人放置工件工艺点程序添加放置工件指令Drop。
5.OpenGripper属性标签下，Home Name后点选机器人抓手的打开状态“Open”，Value后设置抓手运行时间为1s，点击Next按钮。
6.PickPart属性标签下，Part(s) to release后点选要放置的工件，然后点击Finish按钮，机器人放置工件指令添加完成。
五、仿真运行
将机器人与搬运工件恢复到原始位置，然后对工作站仿真运行，可以看到机器人成功地将工件搬运到了指定位置处。
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