1

1.

ASSIGNMENT 4: ROBOT SIMULATION

In this assignment youll create a simulation of robot movements to get the part from lathe to table. You can
. You can
use any robot you like (for example Staubli RX170B). Youll find robots from robotlibrary
watch the assignment4 video in the moodle, to see how your simulation should look like. All the required
files can be found in the assignment material folder in Moodle.

1.1.

Creating a robot workcell

You can find the startpoint of your robotcell from material folder (startpoint.CatProcess). Open the file and
go to the Device Task Definition workbench, if youre not already there. Insert the Robot you want and the
worktool(worktool.CatProduct) as resources. [From the menu, select Insert
Insert Resource or click
Insert Resource
from the Activity Management toolbar]. After you have loaded resources add also
product(workproduct.CatProduct). [From the menu, select Insert
Insert Product or click Insert Product
from the Activity Management toolbar].

TTE-58006

Assignment 4

02/09/13

1.2.

Moving products and resources in to the correct positions

has to be selected. If a device part is selected, the entire device is

Toggle manipulation handle
considered as selected. Select the product or resource you wish to move. Selected item become highlighted.
A green manipulator appears somewhere on the geometry. Move the mouse to the green manipulator and
depress the left button. Begin moving the mouse. The 3D data should move with the compass. Keep
moving until the data is located where you want it, and then let go of the left mouse button. The step size can
be modified using the spinner on the Environment Tools

toolbar.

You can also use snap resource tool, to give the correct positions.

1.3.

Mounting tool to robot

To use the tool it needs to be mounted to robot. Devices

do not need to be manipulated manually, tool mounting
will take care of that if tool base frame is correctly
defined.
Mount the tool to robot by clicking the Set Tool
icon
and select both the device and the robot on
which you wish to mount it. The data appears in the
dialog box. Remember to correct tool orientation and
position before clicking OK, if necessary.

1.4.

Save initial state

When all objects are in the correct positions remember to save the initial state
what is the startpoint of simulation.

1.5.

, that simulation knows

Creating tag points

First create New Tag Group. Click New Tag Group . The Tag
Group dialog box appears. Enter the name of the tag group or accept the
default name.
Then create tagpoints on different locations. Click Create Tag on TCP . Select a robot on either
the PPR tree or the geometry. From the list under the Applicative Frame, select a tag group. Jog the robot
using the Jog dialog. Create a tag by selecting the Create Tag button.
Create tagpoints around the robot working area, so that robot first goes near the
workproduct.catproduct. After that create tagpoints so that robot doesnt hit lathe. One point should be near
the table that part can be dropped there. Tag places dont need to be exactly correct at the first time. You can
modify the places of the tags later with teachtool

TTE-58006

Assignment 4

02/09/13

1.6.

Creating robot task

For moving along the tagpoints you just created you need to create a new task for the robot and then add
tags to the task.
Tools to do this can be found in the Sequence toolbar
illustrated on the right.

1.7.

Picking and dropping parts

Create pick and drop operations to grab the part from lathe spindle
and release it when its near table. To do this, you can use action library
toolbar illustrated on the right.

TTE-58006

Assignment 4

02/09/13

1.8.

Saving and submitting

Make sure you have named the process something else than Process1! Save and submit just like you
did with Assignment 3. An accepted assignment submission has to include the following things:
Final process named Assignment4_NAME_SURNAME.CATProcess
Process with Robot, Robot tool and Workproduct
Robot task which moves workproduct from lathe to table
Picking and dropping operations
Submission
in
ZIP
file
named
Assignment4_NAME_SURNAME.zip.
When youre ready with your work save the model like you
would normally do (Save Management!). Then File
Send to
Directory
Click the arrow Copy all files (see picture below)
Copy to C:\temp\ or such folder.
After you are finished, zip all the files you used in this
homework (you can zip the
whole folder, if there is only your parts) and send it
through moodle.

TTE-58006

Assignment 4

02/09/13