Towards a CAD-based Automated Robot Offline-Programming Approach for Disassembly
Currently, programming a robot is time-consuming both online and offline. To address this challenge, a novel approach is applied to generate the robot program of an industrial robot automatically. Robot program blocks are generated based on disassembly information from the CAD product model and the...
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| Veröffentlicht in: | Procedia CIRP Jg. 104; S. 1280 - 1285 |
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| Sprache: | Englisch |
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Elsevier B.V
2021
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| Abstract | Currently, programming a robot is time-consuming both online and offline. To address this challenge, a novel approach is applied to generate the robot program of an industrial robot automatically. Robot program blocks are generated based on disassembly information from the CAD product model and the product model itself. For this purpose, the robot manufacturer-independent robot offline programming software "Octopuz" is used. Furthermore, the focus of the presented approach is on the two fundamental process types, "pick & place" and "unscrewing", to validate the feasibility of the proposed method. |
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| AbstractList | Currently, programming a robot is time-consuming both online and offline. To address this challenge, a novel approach is applied to generate the robot program of an industrial robot automatically. Robot program blocks are generated based on disassembly information from the CAD product model and the product model itself. For this purpose, the robot manufacturer-independent robot offline programming software "Octopuz" is used. Furthermore, the focus of the presented approach is on the two fundamental process types, "pick & place" and "unscrewing", to validate the feasibility of the proposed method. |
| Author | Neb, Alexander Beck, Joshua Barbu, Katharina |
| Author_xml | – sequence: 1 givenname: Joshua surname: Beck fullname: Beck, Joshua email: joshua.beck@ipa.fraunhofer.de organization: Fraunhofer Institute of Manufacturing Engineering and Automation (IPA), Nobelstr. 12, 70569 Stuttgart, Germany – sequence: 2 givenname: Alexander surname: Neb fullname: Neb, Alexander organization: Fraunhofer Institute of Manufacturing Engineering and Automation (IPA), Nobelstr. 12, 70569 Stuttgart, Germany – sequence: 3 givenname: Katharina surname: Barbu fullname: Barbu, Katharina organization: Fraunhofer Institute of Manufacturing Engineering and Automation (IPA), Nobelstr. 12, 70569 Stuttgart, Germany |
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| Cites_doi | 10.1109/RAMECH.2010.5513141 10.1109/ICARSC.2019.8733631 10.1016/j.robot.2018.04.007 10.1007/s00170-013-4873-5 10.1016/j.procir.2014.10.098 10.1109/ICARSC.2018.8374159 10.1007/978-3-662-02440-9_18 10.1016/j.procir.2019.03.213 10.1016/j.procir.2019.03.011 10.1016/j.robot.2013.02.005 10.4028/www.scientific.net/AMR.907.391 10.1007/s00170-018-03282-w 10.1016/j.procs.2018.07.119 10.1109/ICAR.2011.6088599 |
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| Keywords | Robot Programming OLRP Disassembly Planning |
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| References_xml | – reference: Collins K, Palmer AJ, Rathmill K. The development of a european benchmark for comparison of assembly robot programming systems. 1st Robot. Euro Conf, Brussels, June 1984 – reference: Neto P, Pires JN, Moreira AP. CAD-based Off-Line Robot Programming. IEEE Conference on Robotics, Automation and Mechatronics, Singapore, 2010, 516-521 – volume: 61 start-page: 896 year: 2013 end-page: 910 ident: bib00018 article-title: Direct offline robot programming via a common CAD package publication-title: Robotics and Autonomous Systems – reference: , last accessed 09.12.2020 – volume: 133 start-page: 779 year: 2018 end-page: 785 ident: bib00015 article-title: CAD-based robot path planning and simulation using OPEN and CASCADE publication-title: PROCEDIA Computer Science – reference: Souza JP, Castro A, Rocha L, Relvas P, Silva MF. Converting Robot Offline Programs to Native Code Using the AdaptPack Studio Translator. 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Brüssel 2019 – ident: 10.1016/j.procir.2021.11.215_bib00017 doi: 10.1109/RAMECH.2010.5513141 – ident: 10.1016/j.procir.2021.11.215_bib00021 doi: 10.1109/ICARSC.2019.8733631 – volume: 106 start-page: 26 year: 2018 ident: 10.1016/j.procir.2021.11.215_bib00025 article-title: An improved A* algorithm for the industrial robot path planning with high success rate and short length publication-title: Robotics and Autonomous Systems doi: 10.1016/j.robot.2018.04.007 – ident: 10.1016/j.procir.2021.11.215_bib0008 – volume: 68 start-page: 2535 year: 2013 ident: 10.1016/j.procir.2021.11.215_bib00019 article-title: An offline programming system for robotic drilling in aerospace manufacturing publication-title: Int J Adv Manuf Technol doi: 10.1007/s00170-013-4873-5 – volume: 88 start-page: 341 year: 2011 ident: 10.1016/j.procir.2021.11.215_bib00022 article-title: Offline Programming for a complex welding System using DELMIA Automation – year: 2019 ident: 10.1016/j.procir.2021.11.215_bib00023 – ident: 10.1016/j.procir.2021.11.215_bib0005 – year: 2020 ident: 10.1016/j.procir.2021.11.215_bib0001 – volume: 23 start-page: 155 year: 2014 ident: 10.1016/j.procir.2021.11.215_bib00011 article-title: Disassembly of Electric Vehicle Batteries Using the Example of the Audi Q5 Hybrid System publication-title: Procedia CIRP doi: 10.1016/j.procir.2014.10.098 – ident: 10.1016/j.procir.2021.11.215_bib00010 – ident: 10.1016/j.procir.2021.11.215_bib00020 doi: 10.1109/ICARSC.2018.8374159 – ident: 10.1016/j.procir.2021.11.215_bib00024 doi: 10.1007/978-3-662-02440-9_18 – volume: 81 start-page: 856 year: 2019 ident: 10.1016/j.procir.2021.11.215_bib00012 article-title: Review on Approaches to Generate Assembly Sequences by Extraction of Assembly Features from 3D Models publication-title: Procedia CIRP doi: 10.1016/j.procir.2019.03.213 – volume: 81 start-page: 57 year: 2019 ident: 10.1016/j.procir.2021.11.215_bib00013 article-title: From 3D product data to hybrid assembly workplace generation using the AutomationML exchange file format publication-title: Procedia CIRP doi: 10.1016/j.procir.2019.03.011 – volume: 61 start-page: 896 year: 2013 ident: 10.1016/j.procir.2021.11.215_bib00018 article-title: Direct offline robot programming via a common CAD package publication-title: Robotics and Autonomous Systems doi: 10.1016/j.robot.2013.02.005 – volume: 907 start-page: 391 year: 2014 ident: 10.1016/j.procir.2021.11.215_bib0007 article-title: Scenario-based Development of Disassembly Systems for Automotive Lithium Ion Battery Systems publication-title: Adv Materials Research doi: 10.4028/www.scientific.net/AMR.907.391 – volume: 102 start-page: 1935 year: 2019 ident: 10.1016/j.procir.2021.11.215_bib00016 article-title: Automatic robot path integration using three-dimensional vision and offline programming publication-title: Int J of Adv Manufacturing Technology doi: 10.1007/s00170-018-03282-w – ident: 10.1016/j.procir.2021.11.215_bib0002 – volume: 133 start-page: 779 year: 2018 ident: 10.1016/j.procir.2021.11.215_bib00015 article-title: CAD-based robot path planning and simulation using OPEN and CASCADE publication-title: PROCEDIA Computer Science doi: 10.1016/j.procs.2018.07.119 – ident: 10.1016/j.procir.2021.11.215_bib0009 – start-page: 63 year: 2017 ident: 10.1016/j.procir.2021.11.215_bib00014 article-title: Autonomous Path Generation Platform for Robot Simulation publication-title: Int Conf on Adv Robotics and Intelligent Systems ARIS – ident: 10.1016/j.procir.2021.11.215_bib0006 – ident: 10.1016/j.procir.2021.11.215_bib0004 – ident: 10.1016/j.procir.2021.11.215_bib0003 doi: 10.1109/ICAR.2011.6088599 |
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| Title | Towards a CAD-based Automated Robot Offline-Programming Approach for Disassembly |
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