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.
Configuration development of robot controller with UML
A hot research issue of robot is the opening and easy implementation to program of the robot controller recently. To achieve this target, it is necessary to study the architecture of robot controller. The paper presented the architecture of robot controller based on software engineering methods with the target of function independence. This paper is to research the features of robot controller at higher abstract level without concrete application platform. And then the definition “configuration of robot controller” is represented.
Dimensional Errors of Fixtures, Locating and Measurement Datum Features in the Stream of Variation Modeling in Machining
Machining processes are usually multi-station processes involving a large number of operations and several locating datum changes. Machining errors are thus introduced, transformed and accumulated as the workpiece is being machined. This paper introduces procedures for expressing the influence of errors in fixtures, locating datum features and measurement datum features on dimensional errors in machining. These procedures are essential in the derivation of the Stream of Variation model of dimensional machining errors using the CAD/CAPP parameters of the machining process. The linear state space form of the Stream of Variation model allows for advanced control theory achievements to be employed in formal solutions to problems in multi-station machining. Modeling procedures presented in this paper were experimentally verified in machining of an automotive cylinder head.