RobotStudio-based Industrial Manipulator Programming
Budget: £10 – £20 GBP
- Project involving RobotStudio, in which you will program an industrial manipulator to guide a simulated glue dispenser around the edges of an injection moulded component.
- You must use the IRB140 robot and the MTD positioner found in the RobotStudio
Library. You must use a version of RobotWare later than 6.10.04 and the CAD provided by me.
- You will be required to program the robot to deposit a continuous bead of sealant around the edges of an injection moulded component. The simulated sealant gun (the pen tool) must start in the pen holder on the cell table and must return there after the application has finished.
- When moving between operations the robot speed can be unregulated but when approaching the component or the pen holder the speed must be 610 mm/s. While applying the sealant the speed must be 480 mm/s. The sealant gun must be introduced to the polymer part in a direction approximately perpendicular to the edge chamfers and at an approximate angle of 60 degrees to the horizontal . The TCP must maintain constant speed in one direction around the work object for each track. When navigating the work object it is important to maintain a smooth and constant speed of the Tool Centre Point (TCP). If you struggle to maintain a correct path your gun may be moved away from the work object, re‐orientated, and then returned back to the exit
point. You are also required to record how long the robot takes to carry out the task and display this on the virtual pendant.
- It is important for safety that the cell created in RobotStudio recreates all the important features of the actual cell, e.g. table, walls, gates pedestals etc, so that collisions and obstructions can be avoided, if suitable CAD does not exist, the space can be marked with fences or planes. The plastic component should be placed on the MTD positioner.
- The system should be designed to start from a safe place, approach and pick up the tool, move to the part, apply the sealant to the required parts before returning the tool to the holder and returning back to a safe place before stopping. The tool must be picked up and replaced in the holder as required
- You must use the IRB140 robot and the MTD positioner found in the RobotStudio
Library. You must use a version of RobotWare later than 6.10.04 and the CAD provided by me.
- You will be required to program the robot to deposit a continuous bead of sealant around the edges of an injection moulded component. The simulated sealant gun (the pen tool) must start in the pen holder on the cell table and must return there after the application has finished.
- When moving between operations the robot speed can be unregulated but when approaching the component or the pen holder the speed must be 610 mm/s. While applying the sealant the speed must be 480 mm/s. The sealant gun must be introduced to the polymer part in a direction approximately perpendicular to the edge chamfers and at an approximate angle of 60 degrees to the horizontal . The TCP must maintain constant speed in one direction around the work object for each track. When navigating the work object it is important to maintain a smooth and constant speed of the Tool Centre Point (TCP). If you struggle to maintain a correct path your gun may be moved away from the work object, re‐orientated, and then returned back to the exit
point. You are also required to record how long the robot takes to carry out the task and display this on the virtual pendant.
- It is important for safety that the cell created in RobotStudio recreates all the important features of the actual cell, e.g. table, walls, gates pedestals etc, so that collisions and obstructions can be avoided, if suitable CAD does not exist, the space can be marked with fences or planes. The plastic component should be placed on the MTD positioner.
- The system should be designed to start from a safe place, approach and pick up the tool, move to the part, apply the sealant to the required parts before returning the tool to the holder and returning back to a safe place before stopping. The tool must be picked up and replaced in the holder as required