Modelling of industrial robot in LabView Robotics

5th ModTech International Conference - Modern Technologies in Industrial Engineering

Banas, W.^1 ; Cwikla, G.^1 ; Foit, K.^1 ; Gwiazda, A.^1 ; Monica, Z.^1 ; Sekala, A.^1

Silesian University of Technology, Faculty of Mechanical Engineering, Institute of Engineering Processes Automation and Integrated Manufacturing Systems, Konarskiego 18A, Gliwice

44-100, Poland^1

关键词: Center of gravity;    Industrial systems;    Mass parameter;    Moment of inertia;    Motion parameters;    Off line programming;    Production line;    Robot movements;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/227/1/012011/pdf
DOI  :  10.1088/1757-899X/227/1/012011

来源: IOP

【 摘 要 】

Currently can find many models of industrial systems including robots. These models differ from each other not only by the accuracy representation parameters, but the representation range. For example, CAD models describe the geometry of the robot and some even designate a mass parameters as mass, center of gravity, moment of inertia, etc. These models are used in the design of robotic lines and sockets. Also systems for off-line programming use these models and many of them can be exported to CAD. It is important to note that models for off-line programming describe not only the geometry but contain the information necessary to create a program for the robot. Exports from CAD to off-line programming system requires additional information. These models are used for static determination of reachability points, and testing collision. It's enough to generate a program for the robot, and even check the interaction of elements of the production line, or robotic cell. Mathematical models allow robots to study the properties of kinematic and dynamic of robot movement. In these models the geometry is not so important, so are used only selected parameters such as the length of the robot arm, the center of gravity, moment of inertia. These parameters are introduced into the equations of motion of the robot and motion parameters are determined.