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首页> 外文期刊>Robotics and Computer-Integrated Manufacturing >IRoSim: Industrial Robotics Simulation Design Planning and Optimization platform based on CAD and knowledgeware technologies
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IRoSim: Industrial Robotics Simulation Design Planning and Optimization platform based on CAD and knowledgeware technologies

机译：IRoSim：基于CAD和知识软件技术的工业机器人仿真设计规划和优化平台

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摘要

This paper presents Industrial Robotics Simulation Design Planning and Optimization platform named IRoSim, which is based on SolidWorks Application Programming Interface (API) to offer an intuitive and convertible environment for designing and simulating robotized tasks. The core idea is to integrate features of mechanical CAD and robotics CAD into the same platform to facilitate the development process through the designed Graphical User Interface (GUI) which permits user friendly interaction. The platform includes various 3D models that are essential for developing any robotized task and offers possibility to integrate new models in simulation. Robotic manipulator library is one such example which contains several types of serial arms with different combinations of revolute and prismatic joints. The platform provides most important steps such as defining the task, CAD learning of the end-effector's trajectory, checking the manipulator's reachability to perform a task, simulating the motion and finally validating the manipulator's trajectory to avoid possible collisions. To demonstrate the efficiency of the proposed approach, two frequent and important tasks (spot welding and painting) using a 6-Degree Of Freedom (DOF) industrial robotic manipulator have been considered. The output of the proposed strategy provides collision-free trajectory of the manipulator's motion which can be directly mapped to a real site. Moreover, the approach permits addressing the problems related with the real implementation of robotized tasks.
机译：本文介绍了一个名为IRoSim的工业机器人仿真设计规划和优化平台，该平台基于SolidWorks应用程序编程接口（API），为设计和仿真机器人任务提供了直观，可转换的环境。核心思想是将机械CAD和机器人CAD的功能集成到同一平台中，以通过允许用户友好交互的设计图形用户界面（GUI）促进开发过程。该平台包括各种3D模型，这些模型对于开发任何机器人化任务都是必不可少的，并提供了将新模型集成到仿真中的可能性。机器人机械手库就是这样的一个例子，其中包含几种类型的串联臂，它们具有旋转关节和棱柱关节的不同组合。该平台提供了最重要的步骤，例如定义任务，对末端执行器的轨迹进行CAD学习，检查机械手执行任务的可达性，模拟运动并最终验证机械手的轨迹以避免可能的碰撞。为了证明所提出方法的有效性，已经考虑了使用6度自由度（DOF）工业机器人操纵器执行两个频繁且重要的任务（点焊和喷涂）。所提出策略的输出提供了机械手运动的无碰撞轨迹，该轨迹可以直接映射到真实位置。而且，该方法允许解决与机器人任务的实际实施有关的问题。

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