K. Baizid, R. Chellali (Italy), A. Yousnadj (Algeria), A. Meddahi, J. Iqbal, and T. Bentaleb (Italy)
CAD based robotic systems, Robot placement, Industrial robot simulation, robotized task optimization.
Several requirements have been addressed in the robots
working in workshops related to the use and management of
robotized sites. These requirements take place within the
definition and design stages of the robotized site. The need
to validate and define the industrial tasks has lead to
develop tools that provide aid to the user, e.g. the optimum
placement (position and orientation) of the robot in its
working site, the robot trajectory to accomplish the task etc.
Additionally, the placement of the robot in the robotized
sites carries potential benefits in terms of task
accomplishment time as well as the overall cost in industries
and automation. In this paper, we propose a general
approach based on SolidWorks Application Programming
Interface (API) to provide a virtual representation of the site
allowing the determination of the robot placement and
orientation zone and the optimization of the task time based
on this zone. To validate the developed approach, an
important and frequent industrial robotics task (spot
welding) is considered. The proposed modelling and
simulation strategy show the effectiveness of the method.
Namely, we show how the optimum robot placement and
orientation is achieved with consideration of minimum time
criterion. As well, we present how the designers deal with
the definition of the robotised tasks and their feasibility.
Moreover, our API-based scheme facilitates handling of
commonly encountered problems related to the real
implementation of serial robots.