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From CAD design to robot models and simulation tools. Test-case example using the Kassow 810 collaborative robot
Industrial Robot ( IF 1.8 ) Pub Date : 2021-07-14 , DOI: 10.1108/ir-02-2021-0044
J. Norberto Pires 1 , Carlos Ye Zhu 1
Affiliation  

Purpose

This paper aims to introduce, in a tutorial form, a collection of procedures, tools and applications that can be used to explore robotics fundamentals and automatically generate kinematic and dynamic models from computer-aided design (CAD) packages, to create representations of the robot manipulator understudy so that a user can generate trajectories and to simulate and visualize the robot motion using several programming, simulation and developing tools. In this paper, the authors are particularly interested in advanced three-dimensional design packages such as Inventor and SolidWorks, interactive mathematical and simulation environments such as Matlab, Simulink, Simscape Multibody and Robot Operating System, and several application development languages such as C# and Python. A few of them will be used throughout the paper in a collection of examples that use the new Kassow 810 collaborative robot as a test-case demonstration. In the process, the authors expect readers to fully understand how to use all these tools to other machines and to their own designs.

Design/methodology/approach

Consequently, the paper follows a step-by-step practical procedure, fully tested and explained using the already mentioned state-of-the-art collaborative robot, guiding the reader from the design, modeling, simulation and application development phases, which may be applied to other machines and robotic designs.

Findings

The results clearly show that the procedure of starting from a CAD design to generate the kinematic and dynamic models of a robot manipulator create representations of the robot, generate trajectories and simulate/visualize the robot motion is feasible and accessible to a general user (using standard tools).

Research limitations/implications

Although the paper uses a few particular software packages, the concepts and kept general, which means that they can be used with other equivalent tools. With that objective in mind, the paper introduces the basic robotics concepts involved, further increasing in this way its tutorial structure.

Originality/value

Consequently, the presented procedure has the inherent value of introducing robotics fundamentals in a practical way, but also of demonstrating how readers can build and explore advanced robotic designs using common design, simulation and programming tools.



中文翻译:

从 CAD 设计到机器人模型和仿真工具。使用 Kassow 810 协作机器人的测试用例示例

目的

本文旨在以教程的形式介绍一系列程序、工具和应用程序,这些程序、工具和应用程序可用于探索机器人基础知识,并从计算机辅助设计 (CAD) 包中自动生成运动学和动态模型,以创建机器人的表示机械手研究,以便用户可以生成轨迹,并使用多种编程、模拟和开发工具来模拟和可视化机器人运动。在本文中,作者对 Inventor 和 SolidWorks 等高级 3D 设计包,Matlab、Simulink、Simscape Multibody 和 Robot Operating System 等交互式数学和仿真环境以及 C# 和 Python 等几种应用程序开发语言特别感兴趣。 . 其中一些将在整篇论文中用于一系列示例,这些示例使用新的 Kassow 810 协作机器人作为测试用例演示。在此过程中,作者希望读者充分了解如何将所有这些工具用于其他机器和自己的设计。

设计/方法/方法

因此,本文遵循一个循序渐进的实践程序,使用已经提到的最先进的协作机器人进行了全面的测试和解释,从设计、建模、仿真和应用程序开发阶段引导读者,这可能是应用于其他机器和机器人设计。

发现

结果清楚地表明,从 CAD 设计开始生成机器人机械手的运动学和动力学模型的过程创建机器人的表示、生成轨迹和模拟/可视化机器人运动是可行的,并且对一般用户来说是可行的(使用标准的工具)。

研究限制/影响

虽然本文使用了几个特定的​​软件包,但概念和通用性都保持一般,这意味着它们可以与其他等效工具一起使用。考虑到这一目标,本文介绍了所涉及的基本机器人概念,并以此方式进一步增加了其教程结构。

原创性/价值

因此,所提出的程序具有以实用方式介绍机器人基础知识的内在价值,同时也展示了读者如何使用通用设计、模拟和编程工具构建和探索先进的机器人设计。

更新日期:2021-07-14
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