4 Ovidiu Antonescu

Analele Universit ii Constantin Brncu i din Trgu Jiu, Seria Inginerie, Nr.
4/2010
MODELAREA I CONTROLUL ROBOTULUI DIDACTIC CU SOFTWARE CATIA I RIOS Ovidiu ANTONESCU, POLITEHNICA University of Bucharest, oval33@hotmail.com Pun ANTONESCU, POLITEHNICA University of Bucharest; panton38@hotmail.com
Rezumat: n prima parte se prezint etapele de modelare constructiv i simulare a unui robot didactic tip serial cu configuraia geometric RRRR. n prima parte se modeleaz n 3D piesele componente ale fiecrui element cinemtic din componena robotului serial. n continuare se asambleaz componentele n elemente cinemtice distincte, dup care se realizeaz asamblarea acestora n configuraia final a robotului. n partea a doua a lucrrii se realizeaz simularea cinematic a robotului didactic, cu ajutorul unui meniu DMU Kinematics, apoi cu ajutorul opiunii Generate an animation File se obine animaia robotului.. Partea a doua a lucrrii se refer la controlul i comanda unui manipulator robot didactic, cu ajutorul unui soft specializat, care permite acestuia s execute operaiunile dorite de operator. Bratul - robot se leag printr-un cablu la PC pe portul paralel. Acest ansamblu permite comunicarea dintre cele dou subsisteme (dispozitive): dispozitivul de comand, care este reprezentat de computer, i mecanismul terminal, care efectueaz anumite sarcini. Cu ajutorul meniului sistemului de acionare, operatorul parcurge principalele etape de comand i control privind configurarea robotului didactic (de tip serial) prevzut cu patru actuatoare (de tip motoare electrice).
MODELING AND CONTROL OF DIDACTIC ROBOT BY CATIA AND RIOS SOFTWARE Ovidiu ANTONESCU, POLITEHNICA University of Bucharest, oval33@hotmail.com Pun ANTONESCU, POLITEHNICA University of Bucharest; panton38@hotmail.com
Abstract: The first part of paper it presents the stages of constructive modeling and simulation of a didactic robot type serial. We look at the 3D modeling of the component pieces of each of the kinematical elements in the make-up of a serial robot. Then the components are assembled in distinct kinematical elements, next the assembly of these in the final configuration of the robot is done. Is realized the kinematic simulation of the didactic robot, with the help of a DMU Kinematics menu, then with the help of the option Generate an animation File the robot animation is obtained. The second part of paper it refers to the control of a manipulator didactic robot, with the help of a special soft, which allows the robot to execute moves programmed by the operator. The robot arm is connected by a cable to PC on the parallel port. This assembly allows the communication between the two subsystems (devices): the control dispositive, which is represented by the computer, and the terminal mechanism, which performs the same tasks. With the help of systems menu of actions, the operator goes through the principal control steps regarding robot configuration.
1. Modelarea 3D a componentelor manipulatorului - robot
1. The 3D modeling of the manipulator robot components
Modelarea componentelor se face mai nti n modulul sketcher dup care li se dau forme n part design. Modulul Sketcher din Catia ofer un set variat de comenzi care permit crearea i modificarea (editarea) elementelor (entitilor) unei schie (permit generarea rapid a unui model 2D). Editarea unei dimensiuni a unei schie nu numai c modific geometria schiei, dar modific totodat i corpul tridimensional care se obine pe baza schiei respective.
First in the sketcher module [4] the component modeling is made, and then the forms are obtained in part design. Sketcher module from CATIA [4, 5] offers a variable set of commands which allow the creation and modification of elements (entities) of schema (allows the rapid generation of a 2D model). The publishing of the dimension of a scheme modifies the scheme geometry,
Annals of the Constantin Brncu i University of Trgu Jiu, Engineering Series, Issue 4/2010
36
Analele Universit ii Constantin Brncu i din Trgu Jiu, Seria Inginerie, Nr. 4/2010
Modulul conine instrumente care asigur reprezentarea rapid a profilelor utilizate ca suport pentru generarea unui corp 3D, dar i instrumente ce permit stabilirea dimensiunilor i constrngerilor schiei 2D, atenionnd utilizatorul cu privire la omiterea unor cote, la apariia supracotrii, sau la un posibil conflict ntre anumite dimensiuni. Prima component important pentru ansamblul nostru o constitue baza (suportul) mecanismului - robot (fig. 1).
concomitantly modifying also the threedimensional body which is obtained with the help of the respective scheme. The module contains the instruments which ensure the rapid representation of the user profiles as the support for the generation of a 3D body [3, 4], but also the instruments which allow the establishing of the dimensions and constraints of the 2D scheme [5]. The user is informed it is necessary to omit some dimension figure, on the appearance of the supplementary dimension figure, or because of a possible conflict between some dimensions. The first important component for this assembly is the base (support) of manipulator - robot (fig. 1).
Fig. 1. Baza suport a robotului Fig. 1. Base support of robot
Fig. 2. Flana mobil pivotant a robotului Fig. 2. Mobile flange as pivot On the upper surface of the base there are some balls which allow the robot to move with facility and to reduce the friction force. The second component is represented by a mobile flange which is turned on basesupport and to which the motors and the first joint are attached (fig. 2). According to figure 2, this flange presents a cylindrical axle which penetrates the support - base and at the end there is a motor which him turn with 180 degree. Above one can see two clamping tabs with two collinear horizontal axles which signify the motor joints. Mobility [1, 6] of the turn around the two axles is performed
Aceasta prezint pe suprafaa superioar nite bile care permit robotului s se mite cu uurin i s reduc fora de frecare. A doua component este reprezentat de flana mobil care se rotete pe baza-suport i de care sunt ataate motoraele i prima articulaie (fig. 2). Dup cum putem observa (fig. 2), aceast flan prezint un ax cilindric care intr n suportul - baz i la captul cruia se afl un motora care efectueaz rotirea ei la 180 grade. Deasupra se pot observa dou urechi de prindere cu dou axe orizontale coliniare care simbolizeaz cuplele motoare. Mobilitea de rotire fa de cele dou axe este asigurat de dou motorae electrice tip HS-645 nefigurate pe desen.
37
De flana mobil (fig. 2) se leag braul robotului (fig. 3), realizat sub forma unei tije cilindrice prevzut la capete cu cte o furc cu axele paralele.
by two electric motors (type HS-645) which are not presented in the drawing. To the mobile flange (fig. 2) is connected the robot arm (fig. 3), having the shape of a cylindrical rod which is fitted at ends with a fork with the parallel axles.
Fig. 3. Braul robotului Fig. 3. Robot arm
Fig. 4. Tije cilindric prevzut la capete cu cleme Fig. 4. Cylindrical rod with clamps at ends The following component is the robot forearm (fig. 4) which consists of a cylindrical rod connected at ends with two clams, for attaching it to the two motors [6]. An assembly image of the forearm with attached motors is presented in the following figure (fig. 5):
Urmtoarea component este antebraul robotului (fig. 4) care este alctuit dintr-o tij cilindric legat la capete cu dou cleme, prin care se prind pe cele dou motorae. O imagine de ansamblu a antebraului cu motoaele ataate se prezint ca n figura urmtoare (fig. 5):
Fig. 5. Antebraul robotului Fig. 5. Robot forearm
Componenta final din ansamblu care este reprezentat de sistemul / mecanismul de prehensiune, mai pe scurt griperul (fig. 6) care se prezint sub forma unui subansamblu cu dou bacuri translante acionate de un motora amplasat sub acesta. Griperul ca element 3D se fixeaz ntr-un element cinematic distinct articulat la antebra (fig. 8, 9):
The final component of the assembly is the gripper system / grab (prehension) mechanism [2, 6], named the gripper (fig. 6). The gripper-mechanism has the form of a subassembly, with two translation dies which are actuated by a motor placed under gripper. The gripper as the 3D element is fixed in a distinct kinematic link articulated to the forearm (fig. 8, 9):
38
Fig. 6. Mecanismul de prehensiune (griper) Fig. 6. Grab (prehension) mechanism

2. ASAMBLAREA 3D COMPONENTELOR ROBOTULUI A 2. THE 3D ASSEMBLY OF THE ROBOT COMPONENTS
Asamblarea 3D a componentelor s-a efectuat cu ajutorul modulului din Catia numit Assembly Design. Urmtoarele capturi sunt destul de sugestive pentru operaiunile desfurate n cadrul acestui process de asamblare a tuturor componentelor create anterior (fig. 7).
The 3D assembly of the components is done with help of the module Assembly Design from CATIA soft [4]. The following captures are eloquent enough for the operations developed in this assembly process by all the components which were previously created (fig. 7).
Fig. 7. Asamblul lanului cinematic Fig. 8. Robotul serial i subansamblul principal griperului Fig. 7. Assembly of the principal kinematic chain Fig. 8. Serial robot and gripper subassembly Observm ansamblul robot n stadiul incipient We observe the robot assembly in (fig. 8) fr motoraul din fa, fr furca ce incipient stage (fig. 8) without the front fixeaz gripperul i fr gripper. motor, without the fork which fixes the Se remarc n imaginea de mai sus (fig. 9) gripper and without the gripper. procedura de mbinare a componentelor robotului We notice in the image of serial robot i putem observa c asamblarea componentelor se (fig. 9) the procedure of assembly of the face cu ajutorul unor constrngeri [4] care pot fi : robot components and can observe that the - de coinciden component assembly with help some
39
- de suprafa - de contact - de unghi Asamblarea gripperului de antebraul robotului se poate urmrii n reprezentarea 3D de mai jos (fig. 9)
constringes [4] make up which can be: - of coincidence - of surface - of contact - of angle The assembly of the gripper of the robot forearm can be seen in 3D projection the below (fig. 9)
Fig. 9. Subansamblul antebraului i griperul Fig. 9. Subassembly of forearm and gripper Ansamblul final poate fi urmrit n figura urmtoare (fig. 10) observand pe marginea din stanga paginii toate componentele si constrangerile ce fac parte din acesta: The final assembly can be follows in the figure below (fig. 10), where all components and constringes which belong to this system can be observed on the left edge of page.
40
Fig. 10. Modelarea robotului didactic asamblat Fig. 10. Modeling of the didactic robot assembly
3. SIMULAREA ROBOTULUI CINEMATIC A 3. KINEMATIC SIMULATION OF ROBOT
Simularea mecanismului robot se face prin accesarea meniului Start->Digital Mockup>DMU Kinematics (fig. 11).
The simulation of the robot mechanism is performed from the access [4] of menu Start->Digital Mockup->DMU Kinematics (fig. 11).
Fig. 11. Meniul de simulare a robotului Fig. 11. Simulation menu of robot
Se ncarc apoi ansamblul realizat cu opiunea Open File dup care se acceseaz butonaul din bara din dreapta a display-ului
Next, the assembly realized with option Open File is loaded, after which the button from the right bar of the Simulation display
41
numit Simulation, iar rezultatul reprezentat mai jos (fig. 12):
este
cel
is accessed, while the result is represented below (fig. 12):
Fig. 12. Meniul de simulare a robotului asamblat Fig. 12. Simulation menu of the assembly robot Poziia asamblului robot se modific prin deplasarea butonaelor tip mixer care reprezint comenzile ce pot fi date cuplelor cinematice (fig. 12). Pentru ca rezultatul s fie bun i micarea obinut s fie una ct mai realist este indicat s se acceseze insert la fiecare dou click-uri de mouse. Se repet aceast operaiune pn cnd ansamblul robot execut un set complet de micri dorite, dup care se trece la urmtorul pas, mai exact la exportul acestei simulri n format avi, ceea ce va permite replay-ul simulrii cu ajutorul unui player folosit la vizualizarea filmelor. In imaginea de mai jos (fig. 13) se poate vedea practic aceast procedur, care este foarte simpl i care genereaz o simulare n format avi, putnd fi deschis mai apoi cu un player. The robot assembly position is modified from moving of buttons type mixer which represent the commands which can be given to the kinematic joints (fig. 12). In order for the result to be obtained and the obtained moving be one as realistic, it is indicated to access insert at every two clicks of the mouse. This operation is repeated until the robot assembly performs a complete set of desired moves, after which one can move to the next step, precisely at the export this simulation in the format avi, that allows the replay of the simulation with the help of player which is used to watch films. The image below (fig. 13) shows this practical procedure, which is very simple and can generate a simulation in format avi, which is then opened with a player. The corresponding steps of this operation
42
Paii corespunztori acestei operaiuni sunt urmtorii: -se bifeaz acea opiune Generate an animation File -se d numele animaiei -se alege calea, dup care se acceseaz OK Fereastra de mai jos (fig. 13) ilustreaz procedura descris anterior, oferind posibilitatea de a vedea practic opiunile prefaate de acest modul.
are as follows: - access the option Generate an animation File; - give the animation name; - select the way, after which access OK. The following window (fig. 13) illustrates the procedure described above, which offers the possibility to see practically the options prefaced of this module.
Fig. 13. Fereastra de simulare / animaie a robotului Fig. 13. Simulation / animation windows of robot Mai jos se prezint o imagine (fig. 14) care comparat cu prima imagine a robotului (fig. 12) inaintea simulrii sugereaz micrile induse acestuia de operator. Below is presented an image (fig. 14) which, compared with the first image of the robot (fig. 12) before the simulation suggests the movements induced by the operator.
43
Fig. 14. Ecranul calculatorului cu simularea robotului ntr-o poziie specific Fig. 14. Computer screen with robot simulation in specific position Fa de imaginea anterioar a robotului (fig. 12) se observ modificarea de poziie la prima articulaie, a mesei rotative (fig. 14), dar mai ales micarea gripperui prin cele dou bacuri translante.
4. ASPECTE GENERALE CONTROLUL ROBOTULUI PRIVIND 4. GENERAL ASPECTS REFERRING TO ROBOT CONTROL
In comparison with the previous image of the robot (fig. 12) it can be observed the modification of position at the first joint, of the rotating table (fig. 14), but especially the gripper movement from the two the translate dies.
n cele ce urmeaz vom ncerca s expunem pe scurt ce nseamn acest soft pentru control i cum anume este el conceput n ceea ce privete structurarea utilitilor. La nceput se prezint interfaa robotului n ansamblu (Lynxmotion RIOS), aceasta poate fi observat n meniul din figura de mai jos (fig. 15).
In the following section we will try to present briefly what the RIOS soft means for robot control and how it is conceived with respect to the structuring of utilities First the robot interface is presented in assembly (Lynxmotion RIOS); this can be observed in the menu in the figure below (fig. 15).
44
4 2
Fig. 15. Meniul sistemului de operare interactiv al robotului Lynxmotion RIOS Fig. 15. Systems menu of interactive operation of the Lynxmotion RIOS robot n centrul panoului (fig. 15) se afl fotografia unui robot didactic de tip serial, acesta fiind acionat cu motoare electrice prin intermediul unei plci interfa situat n spate (partea dreapt a postamentului). Se observ c interfaa grafic a acestui soft este una destul de accesibil, fiind structurat pe un meniu simplu care confer un confort sporit la accesare. n partea stng sus a ecranului (fig. 15) se afl panoul Configuraie cu urmtoarele butoane: II1-5S, prin accesarea cruia se deschide fereastra de accesare a motoraelor; SSC-32, prin care se deschide fereastra cu contolere; Arm, care permite configurarea braului robotului Lynx; Project, cu dou submodule denumite export i import. Schema constructiv simplificat a manipulatorului robot (fig. 16) este realizat cu softul CATIA i evideniaz patru mobiliti, dintre care trei mobiliti corespund mecanismului de poziionare MPz format din coloana pivotant 1 (micare n plan orizontal), braul articulat 2 i antebraul articulat 3 (cu micare n plan vertical). In the panel in the centre (fig. 15) is the photo of the serial type didactic robot, which is actuated by the electric motor via an interface plate which is situated in the back (in the right part of pedestal). It is observed that the grafic interface of this soft is very accesible, being structured on a simple menu which ensures an increased comfort on accessing. In the above left part of the screen (fig. 15) is the Configuration panel with the following buttons: II1-5S, for opening the window for motor accessing; SSC-32, which opens the window with controllers; Arm, which allows the configuration of robot arm Lynx; Project, with two sub-modules named export and import. The simplified constructive schema of the robot (fig. 16) with CATIA soft is done having four distinctive mobilities.
45
2 4 1
Fig. 16. Modelarea constructiv a robotului LGA-KT Fig. 16. Constructive modeling of robot LGA-KT These three mobilities correspond to the Position Mechanism (PsM) formed from pivot column 1 (movement in the horizontal plane), articulated arm 2 and articulated forearm 3 (with movement in vertical plane). Orientation Mechanism (OrM) allows a 5. ACCESAREA BUTOANELOR DE single rotation in vertical plane, being formed from rod 4 which is articulated to forearm 3. COMAND DIN MENIUL LYNX At the end of rod 4 is a gripper as a grasp Vom lua pe rnd meniul Lynx Motion mechanism with two dies (fig. 2). RIOS (fig. 1) i vom descrie pe scurt utilitile lui n cele ce urmeaz. Prima opiune din meniu este 5. ACCESSING OF CONTROL DIES butonul de comand All-1,5S, prin accesarea FROM LYNX MENU cruia apare o ferestr (fig. 3). Aceast opiune este recomandat imediat In this section we present the utilities of dup ce am configurat braul robot, deoarece the menu Lynx Motion RIOS (fig. 15). The aceasta ne permite s verificm dac, ntr-adevr, first option on the menu is control button am lucrat corect i dac robotul respect poziia All-1,5S, which opens a window (fig. 17).
Mecanismul de orientare MOr permite o singur rotaie n plan vertical, fiind format din bara 4 articulat la antebraul 3. n captul barei 4 se afl mecanismul de apucare cu dou bacuri (fig. 16).
46
precizat n figur. Fereastra ce rezult dup accesarea butonului AII-5S are urmtoarea configuraie (fig. 17).
This option is recommended directly after we have configured the robot arm, because it allows to verify if, indeed, we work correctly and if the robot respects the position which is specified in the figure. The window which results after the accessing of button AII-5S has the following configuration (fig. 17).
Fig. 17. Schema constructiv a robotului n dou proiecii ortogonale Fig. 17. The constructive schema of the robot in two orthogonal projections n figura 17 se prezint schema constructiv a robotului n dou proiecii ortogonale (orizontal i vertical), dup cum se observ motoraele se vor activa i vor modifica poziia manipulatorului robot Lynx. A doua optiune SSC-32 prezent n interfaa de comand a acestui soft (fig. 15) este una mai special deoarece ne permite un control separat pe fiecare motora n parte. n felul acesta putem s efectum micri independente pentru fiecare articulaie i n felul acesta se poate testa dac s-au conectat corect motoraele pe conectorii situai pe placa de baz a mecanismului-robot. Aceast opiune poart denumirea SSC-32, iar fereastra care apare la activarea acestei opiuni se prezint ca n figura urmtoare (fig. 18): In figure 17 is presented the constructive schema of the robot in two orthogonal projections (horizontal and vertical), which shows that the motors will become active and the position of robot Lynx will be modified. A second option SSC-32 present in the control interface of this soft (fig. 15) is a special one because it allows a separate control on each motor in part. In this mode we can carry out an independent movement for each articulation and we can test whether the motors were correctly attached to the connection situated on the base plate of the mechanism-robot. This option is named SSC-32, while the window which appears by actuating this option is presented in the following figure (fig. 18).
47
Fig. 18. Controlul separate al motoraelor Fig. 18. Separate control of motors as actuators Dup cum se observ, aceste controlere tip mixer pot fi activate printr-o simpl bif cu mouse-ul n csua de deasupra, iar prin micarea pe vertical se induce micarea la motoraul corespunztor. A treia opiune poart denumirea Arm, iar fereastra care se deschide la activarea acestei opiuni din meniu (fig. 18) se intituleaz sugestiv Lynx Arm Config i se refer la o configurare a braului robot bazat pe coordonatele carteziene ale punctelor caracteristice (X,Y,Z). Aceast configurare se face prin micri de translaie ale butonaelor aflate pe marginea acelui chenar din partea stng a paginii; acesta ne ofer un preview a pozitiei pe care o va lua manipulatorul-robot n urma modificrilor efectuate de operator. Imaginea urmtoare (fig. 19) ofer o privire de ansamblu a parametrilor geometrici i cinematici caracteristici robotului studiat (fig. 18). As can be observed, these mixer type controls can be actuated through a simple pressure of the mouse in the above box, while by the vertical movement is induced the movement of the corresponding motor. The third option is named Arm, while the window which opens on activating this option from the menu (fig. 18) is suggestively named Lynx Arm Config and refers to the robot arm configuration with the help of the Cartesian coordinates of the characteristic points (X,Y, Z). This configuration is made through translation moves of the buttons situated on the left edge of the page; this offers a preview of the position which the manipulator-robot will take after modifications performed by the operator. The folowing image (fig. 19) offers an overview of the geometric and kinematic parameters which are characteristic of the studied robot (fig. 18).
48
Fig. 19. Panou cu coordonatele carteziene ale cuplelor cinematice Fig. 19. Panel with Cartesian coordinates of kinematic joints Dup cum se observ, simularea se face pe anumite criterii care sunt legate de coordonatele carteziene i de distanele i unghiurile dintre braele componente. O alt component foarte important a meniului de pe interfaa aceasta o reprezint opiunea Play, care simuleaz anumite micri predefinite sau a unui proiect, avnd posibilitatea de a rula aceste micri i de a urmri log-urile lor de-a lungul ntregii simulri. Dac este s o comparm cu o aplicaie folosit zilnic, am putea-o compara cu un player ce ne permite vizualizarea de surse media gen filme numai ca aici filmul este un ansamblu de secvene ce se execut consecutiv, rezultand o micare uniform care este transpus n practic de manipulatorul - robot. In imaginea urmtoare (fig. 20) putem observa n detaliu acest modul care are o interfa destul de prietenoas, permind utilizatorului s deduc practic opiunile ce se prefaeaz n acest modul. It can be observed that the simulation is made according to some criteria which are linked to Cartesian coordinates and by the distances and the angles between the component arms. Another very important component of the menu of this interface is the option Play, which simulated some predefined movements or of a project, having the possibility to rule these moves and to follow log-s along the whole simulation. If we were to make a comparison with an application used daily, it can be compared with a player which allows the visualization of media sources like films, but here the film is a sequential assembly which is executed consecutively, resulting in a uniform movement which is put to practice by the manipulator robot. In the following image (fig. 20) we can observe in detail this module which has an interface friendly enough to allow the user to deduce the practical options which are prefaced in this module.
49
Fig. 20. Panou cu configurarea diagramelor de variaie a vitezelor celor patru motoare de acionare Fig. 20. Panel with configuration of variation diagram of motor velocities n continuare (fig. 21) putem observa fereastra cu log-urile care reprezint fiecare secven n execuie: In what follows (fig. 21) we can observe the window with log-s which represent each sequence in execution:
Fig. 21. Fereastr cu secvenele de micare ale robotului Fig. 21. Window with the moving sequences of robot
Dup cum putem observa n aceast fereastr We can observe in this window (fig. 21) that (fig. 21), micrile sunt coordonate dup the moves are coordinated according to
50
secvene care corespund unor anumii pai, ntre aceste secvene exist o pauz de 0.250 sec. Dac pn acum am prezentat anumite module care pot rula proiecte sau ansambluri de micri predefinite, n modulele de mai jos (fig. 22, 23) se pot urmri exportul i importul acestor proiecte. S considerm o serie de Mp-RI care desfoar aceeai activitate; putem configura unul dintre aceste manipulatoare-roboi pentru a efectua un set de micri specifice activitii pentru care au fost achiziionai. Atunci avem posibilitatea s exportm aceste setri i celorlalte manipulatoare-roboi pentru aceasta ne vom folosi de Modulul Project. Acest modul are la baz dou submodule denumite export i import, acestea fiind descrise de cte o fereastr cu comenzi explicite pentru fiecare sens de rotaie ale celor patru motoare (fig. 22, 23):
sequences which correspond to some steps, while between these sequences there is a pause of 0.250 sec. While until now we have presented some modules which can rule projects or assemblies of predefined moves, in the modules below (fig. 22, 23) we can follow the export and import those projects. We consider a series of Mp-RI which develops the same activity; we can configure one through these manipulatorsrobots to perform a set of the specific moves for which it was purchased. Then we have the possibility to export these sets to the other manipulator-robots too, by using the Module Project. This module is based on two sub-modules called export and import, each described by a window with explicit commands for each direction of rotation of the four motors (fig. 22, 23).
Fig. 22. Submodulul demonstrativ Export Fig. 22. Demonstrative submodule Export 6. CONCLUZII
Fig. 23. Submodulul demonstrativ Import Fig. 23. Demonstrative submodulul Import 6. CONCLUSIONS
Cu ajutorul softului CATIA se poate modela fiecare pies din componena unui element cinematic, precum i asamblarea acestora, pentru a obine manipulatorul spaial,
With the help of CATIA soft any piece of the components of a kinematical element can be modeled, and also assembled, in order to obtain the spatial manipulator representing a
51
reprezentnd un robot didactic. Programul CATIA permite simularea cinematic respectiv animarea schemei constructive a respectivului manipulator, evideniindu-se micrile specifice fiecrui element cinematic. Redarea n 3D a ansamblului manipulatorului robot se poate obin e uor cu ajutorul mouse-ului unui computer. Sistemul robot poate fi rotit, poate fi animat i poate fi mrit dup dorina operatorului, ceea ce permite vizualizarea produsului din oricare punct de vedere. Pe ecranul cu interfaa grafic a robotului Lynxmotion RIOS, operatorul dispune de un meniu simplu cu butoane explicite, ceea ce permite o accesare comod. S-a realizat o schem constructiv simplificat a unui manipulator robot similar celui din meniu care s-a obinut cu softul CATIA i evideniaz patru mobiliti, dintre care trei mobiliti ale mecanismului de poziionare MPz i o mobilitate a mecanismului de orientare Mor. Ansamblul mecatronic permite comunicarea dintre dou subsisteme, unul reprezentat de computer, ca dispozitiv de comand i cellalt reprezentat de mecanismul terminal, care efectueaz anumite sarcini utile. Cu ajutorul unui meniu al sistemului de acionare, operatorul parcurge principalele etape de comand i control privind configurarea robotului didactic (de tip serial) care este acionat cu motoare electrice. Prin accesarea bunoanelor de comand din meniul Lynx se deschid ferestre corespunztoare pentru configurarea iniial a manipulatorului robot, controlul separat pe fiecare motor n parte (n mbele sensuri de rotaie), ceea ce permite efectuarea micri independente pentru fiecare articulaie. BIBLIOGRAFIE 1. Antonescu, P., Mihai, N., Barbu, I., Model funcional de manipulator-robot cu 5 grade de libertate, SYROM97, Bucureti, Vol. 2, p. 2128, 1997. 2. Mihai, N., Antonescu, P., Barbu, I., Contribuii privind comanda robotului didactic RD-5R cu ajutorul calculatorului, SYROM97,
didactic robot. CATIA programming allows the kinematic simulation, animation respectively, of the constructive scheme of the respective manipulator, distinguishing the specific movements for each kinematical element. The restore in 3D of the assembly of the manipulator-robot can be obtained easily with the help of the computer mouse. The robot system can be rotated, animated and increased according to the operators desire, which will be able to visualize the product from any point of view. On the screen with the graphic interface of robot Lynxmotion RIOS, the operator has a simple menu with the explicit buttons that allow easy access. A simplified constructive schema of a manipulator robot has been made, and also for the menu which was obtained with CATIA soft and four evident mobilities, three of them for the position mechanism PsM and a mobility for the orienting mechanism OrM.The mechatronic assembly allows the communication between two subsystems, one represented by the computer, as control device, while the other is represented by the terminal mechanism that performs some useful tasks. With the help of a drive system menu the operator goes through the principal control stages for the configuration of the didactic robot (of serial type) which is actuated by electric motors. By accessing the control buttons of Lynx menu, the corresponding windows are opened for the initial configuration of manipulator robot, the separate control on each motor (in both rotation senses), which allows the independent movement for each joint (articulation). BIBLIOGRAPHY 1. Antonescu, P., Mihai, N., Barbu, I., Model funcional de manipulator-robot cu 5 grade de libertate, SYROM97, Bucureti, Vol. 2, p. 2128, 1997. 2. Mihai, N., Antonescu, P., Barbu, I., Contribuii privind comanda robotului didactic RD-5R cu ajutorul calculatorului, SYROM97, Bucureti, Vol. 2, p. 221-226, 1997. 3. Antonescu, P., Mihai, N., Antonescu, O.,
52
Bucureti, Vol. 2, p. 221-226, 1997. 3. Antonescu, P., Mihai, N., Antonescu, O., Manipulator-robot tip RRR-RR cu cinci mobiliti, Lucrrile Simpozionului Studii i cercetri de mecanic aplicat i electromecanic, Piteti, Vol. I, p. 85-90, 1997. 4. Antonescu, P., Mihai, N., Diaconu, Gh., Pun, C., Manipulator-robot cu 5 mobiliti tip 3R+2R, Revista Construcia de maini, Anul L, nr. 6, p. 5-10, 1998. 5. Antonescu, O., Antonescu, P., Mechanisms and Manipulators, Printech Bucharest, 2005. 6. Popovici, M.,M., Modelarea virtual 3D n construcia de maini (CATIA P3V5R14), Ed. Printech Bucureti, 2005. 7. Antonescu, O., Robot design and digital control, Journal Mechanisms and Manipulators, Vol. 5, nr. 1, p. 57-62, 2006. 8. Antonescu, O., Hondas humanoid robot evolution, J. Mechanisms and Manipulators, Vol. 6, nr.1, p. 67-72, 2007. 9. Antonescu, O., Antonescu, P., Modeling and simulation of a didactic robot using CATIA soft, Journal Mechanisms and Manipulators, Vol. 9, nr. 1, p. 29-34, 2010 10. Antonescu, O., Robot control with interactive operation soft (RIOS), Journal Mechanisms and Manipulators, Vol. 9, nr. 1, p. 59-64, 2010 11. Introducere in programul de * * * proiectare CATIA, J. Mechanisms and Manipulators, Vol. 6, nr..2, p. 87-98, 2007, 12. , http:www.lynxmotion.com. ***
Manipulator-robot tip RRR-RR cu cinci mobiliti, Lucrrile Simpozionului Studii i cercetri de mecanic aplicat i electromecanic, Piteti, Vol. I, p. 85-90, 1997. 4. Antonescu, P., Mihai, N., Diaconu, Gh., Pun, C., Manipulator-robot cu 5 mobiliti tip 3R+2R, Revista Construcia de maini, Anul L, nr. 6, p. 5-10, 1998. 5. Antonescu, O., Antonescu, P., Mechanisms and Manipulators, Printech Bucharest, 2005. 6. Popovici, M.,M., Modelarea virtual 3D n construcia de maini (CATIA P3V5R14), Ed. Printech Bucureti, 2005. 7. Antonescu, O., Robot design and digital control, Journal Mechanisms and Manipulators, Vol. 5, nr. 1, p. 57-62, 2006. 8. Antonescu, O., Hondas humanoid robot evolution, J. Mechanisms and Manipulators, Vol. 6, nr.1, p. 67-72, 2007. 9. Antonescu, O., Antonescu, P., Modeling and simulation of a didactic robot using CATIA soft, Journal Mechanisms and Manipulators, Vol. 9, nr. 1, p. 29-34, 2010 10. Antonescu, O., Robot control with interactive operation soft (RIOS), Journal Mechanisms and Manipulators, Vol. 9, nr. 1, p. 59-64, 2010 11. Introducere in programul de * * * proiectare CATIA, J. Mechanisms and Manipulators, Vol. 6, nr..2, p. 87-98, 2007, 12. , http:www.lynxmotion.com. ***
53

4 Ovidiu Antonescu

Încărcat de

Informații document

Drepturi de autor

Formate disponibile

Partajați acest document

Partajați sau inserați document

Opțiuni de partajare

Vi se pare util acest document?

Este necorespunzător acest conținut?

Drepturi de autor:

Formate disponibile

4 Ovidiu Antonescu

Încărcat de

Drepturi de autor:

Formate disponibile

Analele Universit ii Constantin Brncu i din Trgu Jiu, Seria Inginerie, Nr.

1. Modelarea 3D a componentelor manipulatorului - robot

1. The 3D modeling of the manipulator robot components

Fig. 1. Baza suport a robotului Fig. 1. Base support of robot

Fig. 3. Braul robotului Fig. 3. Robot arm

Fig. 5. Antebraul robotului Fig. 5. Robot forearm

Fig. 6. Mecanismul de prehensiune (griper) Fig. 6. Grab (prehension) mechanism

numit Simulation, iar rezultatul reprezentat mai jos (fig. 12):

is accessed, while the result is represented below (fig. 12):

S-ar putea să vă placă și