Development of a technology orientated programming system for industrial robots
The disassembly of used goods is characterized by strongly varying quantities and a wide range of different kinds and states of products. Furthermore, the requirements of a disassembly system are determined by the disassembly object, by the process as well as by the disassembly system itself. As a result of the high labor costs in industrial countries and the huge amount of used goods, an automated disassembly is favored for the industrial disassembly. New methods for the programming of industrial robots have to be developed because the costs for a programming of small lot sizes are a key factor of the economic efficiency of small and medium sized enterprises (SME). In this paper an off-line programming environment for programming of industrial robots in the field of automated disassembly is presented. The exemplary implementation is realized at a pilot disassembly system, which was built up at the Institut für Werkzeugmaschinen und Fabrikbetrieb (IWF) of the Technische Universität Berlin.
Off-Line Robot Programming Framework
The industrial robot programming is a work for specialist in robotics. Today, this work is very hard because there are many robot manufacturers with different languages and different programming environments. Although, off-line programming is an way that can reduce drastically the machines stop time to maintenance. With the use of object oriented design patterns, it is possible minimize the time spent in robot programming. In this work is proposed a off-line programming environment. This tool is based in one abstract model to program robots, encapsulate in Java classes. This way has the main advantage of best source code utilization. Grouping the business classes in modules by functionalities, we can reduce complexity between low matching. Recognized patterns like facade and template method will construct the base to develop this programming framework. The programming robot languages tested in this work was Rapid, Karel and Melfa Basic IV, respectively languages used by ABB, Fanuc and Mitsubishi constructors
Traceability strategy for gear-pitch-measuring instruments: development and calibration of a multiball artifact
There is a strong demand to ensure the traceability of gear-measuring instruments (GMIs). We propose a multiball artifact (MBA) for the evaluation of pitch-measuring accuracy. The aim of the MBA is to transfer the minimum uncertainty from a calibrated value at the National Metrology Institute of Japan (NMIJ) to a measured value of GMIs at a shop floor. The MBA is composed of equally spaced high-accuracy balls around an axis. The pitch-measuring accuracy of GMIs is evaluated by measuring the angular pitch deviation of the balls instead of the angular pitch deviation of a gear. We calibrated the angular pitch deviation using a coordinate measuring instrument (CMM) at the NMIJ and adapting a multiple-orientation technique. We proposed a calibration strategy of the angular pitch deviation. The calibration value of the pitch deviation for the MBA at the NMIJ was obtained with a measurement uncertainty (U95) of 0.2 µm. We evaluated the pitch-measuring accuracy of a GMI using the calibrated MBA. Each value of U95 for the cumulative and single pitch deviations for the left and right flanks was less than or equal to 0.5 µm. The small uncertainty was transferred from the NMIJ to the GMI.