The simulation of the MAHO-700S milling machine by the …

1 The simulation of the MAHO- 700s milling machine by the useof the software package roboticsCitation for published version (APA):Vernooij, J. W. G. (1991). The simulation of the MAHO- 700s milling machine by the use of the software packagerobotics. (TH Eindhoven. Afd. Werktuigbouwkunde, Vakgroep Produktietechnologie : WPB; Vol. WPA1088).Technische Universiteit status and date:Published: 01/01/1991 Document Version:Publisher s PDF, also known as Version of Record (includes final page, issue and volume numbers)Please check the document version of this publication: A submitted manuscript is the version of the article upon submission and before peer-review. There can beimportant differences between the submitted version and the official published version of record. Peopleinterested in the research are advised to contact the author for the final version of the publication, or visit theDOI to the publisher's website.

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3 Aug. 2020 :242960 Supervisoryteam: ,thedivisionofProductionEngineeringandAu tomation(YVPA) , dividedintofivemodulesofwhichPLACEandBUI LD,togetherwithUNIGRAPHICSII, , geometricalmodelofafIVe-axismillingmachi neis developedwhichIsabletoreacha sequenceiswrittenwhichdescribesthemotion simulationfora 'gototpolnt'and'workingtpoint' succeedeingstudentBUILD-filesofdevices1 ,ComputerAidedDesign,Isthecomputersuppor teddesignofproductsin ,2Yo!and3 distinctionismadeintothreetechnicsofmode lling:wireframe, ,ComputerAidedManufacturing, distinctioncanbemadeintotwospecificfield s:a)Thecomputersupportedgenerationofprod uctinforma-tionforNC-machines, )Thecomputersupportedexecutionofthisinfo rmationwithintheNC- machine , , robot,if off-lineprogrammingcanbeaccomplishedandi f testcanbeperformedofNC-programmesbymeans ofa ! , a a fIVe- controlledbya , amachineinstructionandcontainsanadressca pitalanda NC-sentenceis:NIOGOIX20Y35F20051000M3num berofsentenceis10~pathconditionpathinfor mationfeedrate200 :spindlespinsclockwiseTheMAHO containsa rectangularcoordinatesystem( ).

4 , suitedforthreepurposes:- Simulationofrobotmotion- Off-lineprogramming- ErgonomysimulationRoboticscontainsfivemo dules:PLACE,BUILD,ADJUST, descriptionofPLACEandBUILD seeappendices3 :3 CADCLS-PreCL-NC- :postprocessorICAM~ProcessorIfilefilefil eIFEATURES figure2:TherealizationofaNt-fileTheinput ofthesystemis separatedinto3 :wireframe, productnotonlythegeometryis connectionbetweentheCAD/CAMsystemUGII andtheMAHO-700 SmillingmachinewithoutanyInterventionofp aperwasachievedIn1990atthedivisionWPAO wingtothecomplexityof5-axisprocessinga simulationtodetectcollisionsandfailuresi s ,inverse-andforwardkinematicsandtoperfor ma axis,thetranslationaxisX,Y andZ floorin a ,containingtheproductperformstranslation sinX-andY directionandrotationsovertheaxisA cellis performsItsmotionin Z-directionanddevice2 movesoverthefouraxisleft( ). connectiontreeis usedtodescribetheconnectivityrelationshi psbetweentheframeswithina cell.

5 ~hena frameIsconnectedtoanotherframe,theconnec tedframeis calledasonframe,andtheframethatthesonisc onnectedtoiscalledtheframe' factalsocanbeseenasa (Device1)1 FreesbO:porchcolumn2 Freesb1: Z-carriage3 Freesb2: None(Device2)1 Freesta11: Porchcolumn2 Freesta10: Y-carriage3 Freestaf9: X-carriage4 FreestafS: turningtableA5 Freestaf7: rotationtableB6Fr~staf6: Nonefigure4 'gototpoint'and'workingtpoint'. 'tpoints'.Tpointsarethepositioningentiti esina tpointalwaysrepresentsa deviceis thetpolntwhichisdirectedtoalignwiththego totpointaftera gototpointcanbeanypositioninspacewhicha deviceis ,a theworkingtpointisnotconnectedtothefacep latethegototpointmustbeconnectedtothefac eplateoraframethatis descendentofthefaceplatein the is whentheCLS-file,whichisinfactthegototpoi ntsequence,is (z-axis) motionsimulationis performedthegototpointofdevice2(atpointc onnectedtothefaceplate)willbedirectedtoI tsworkingtpointalongthez-axisandthegotot pointofdevice1(alsothetpointconnectedtot hefaceplate)willbedirectedtoitsworkingtp ointwhichis in :(X;Y;Z)=(0;255,077;0,03).

6 Incasenorotationsarebeingcorrectedbutonl ytranslations,amovementoftheproductzero- pointis resultofthistheproductalwaysneedstobeali gnedInboththeX,Y,andZ "freesbank" translatesalongtheZ-axis,device2 performstranslationsalongtheX-andY-axis, androtationsaroundtheX-andY axis( ).Thestandardkinematicsofthedevelopeddev ice2 allowa instructedtogotoa predefinedsetofjointsvalues, ,whenanarbitrarytpointis createdandconnectedtothefaceplate andwhenboth ,PLACE offersa possibilitytoaddjointstoa coordinatedmappingfilewillmapthisjointso ndevice2 caseofdevice2 thisresultsina tpointhasbeencreatedalongthetranslationa xisofdevice1 , specificsetofjointpositionsisincludedina :1) ) ) ) collisiontestcanbeperformedwithinPLACEis describedin motionsimulationhavebeenexamined:Theinve rsesolutiondoesnotyielda desiredresultfora motionsimulationwitha spatialtpointiscreatedwhichis is recommendedtogeneratea allinstructionsfora ,somesoftwareshouldbewrittenwhichtakesin toaccountthesubstractionofroughmaterialw hena , ,WPArapport0712, , ,WPArapport0930, ,McDonnellDouglasManufacturing& ,McDonnellDouglasManufacturing&.

7 , , ,YenZ beschiktdemachineoverlineairemeelsysleme nenvoordeassenA enB :Machinebereik:langsvertikaaldwarsrondla lelzwenkasX-as700mmV-as500mmZ-as600mmB-a sn + :aandrljving:regelbarewisselstroommolorm eteenvermogenvan10kWtoerenrallenreeks:20 -6300omw/ :automatischwegIedraaienverlikalefreesko pgereedschapsconusISO40gereedschapsopspa nninghydro-mechanischAanzelbe" :1-4000mmlminA enB-as:1-3000graden/minIJIgang:XenZ-asYe asB-asA-as12mlmin10mlmin150mw/min16gr/ :AenB-as:oplossendvermogen:inkrementeel- ,Y "isselaar:aanlalgereedschappenIn helmagazijn:36 Tafel:zwenk-rond :PhilipsCNC432contourbesturingmelbeeldsc hermGe" :..11~, ;..l.;;..;;;tJ~~~' :77PS-S-Bemerk.:_ MaOversatz:A-AchseDrehachsezuE-AchseDreh ach~c_++-_+ ]!). ~/37~OAKTIENGESEllSCHAFTJofi700SI,HC-~~- lRBEI'T'SRAtJ4~II15 APPENDIX2 ArchitectureofROBOTICSOESICN10---01 COMPONENT' 'TASKOESCRlmONSIMULATIONTRANsunONPLACECO MMAND+TRANSLATORADJUSTerACAUBRATIONOOWNL OADlNC10 ROBOTCON'\~ systemoverviewanda shortmanualofthemainfunctionsusedin , ,PositionerLayoutAndCellEvaluator,isa softwarepackagedesignedtocreate,analyzea ndmodifyroboticcellsgraphicallythroughus eofa highspeed,vectorrefreshorrast~ ,equipment,workpleces,andtoolingwithina celleitherIndividually,asinthecaseofa workpiece,ortogether,asin thecaseofa desiredlocationin , ,twoframes,orbetweena tpointanda :>22 simulation /Robotics,Enter>2 Place,EnterThePLACE mainmenuwillappear( ) ~ing2 OeviceMotionControl3 HoveFrames!

8 Tpoints4I/OandVariables5 Branchingan~ConditionalExecu~ion6 SequenceEditingandControl,ViewandDisplay ControlSDimensionalAnalysis9 CollisionDetection10 FileManagement11 TimeCon~rol12 FileCell!Terminate,..,..,..,..,..,..,.., ..,..,..,..**~~~~~.~~~~~~~~*~~*~~~~.~~~~ *~~~~~.*~~~~,..,..,..,..,..,..,..,..,..f igure6 Retrievinga cellToretrievea cellyouhavetopickfromthemainmenu:>1 Cellediting,EC>1 Mergecell,ECThesystemwillaskyouthecellna meandtowhichfatherframethecellis t-pointpick:>1 cellediting,EC>4 createtpoint, youwanttosavethecontentsofthecurrentPLAC E workingcellandcreatea cellfilein theuserdirectory,thenpick:>12 SaveCell, :- straightlinemotion- jointinterpolated- slewIncaseofstraightlinemotiontheworking tpointoftherobotisconstrainedtofollowa 'stheoremisused.'Euler'stheoremstatestha tgiventwocoordinatesystemswiththesameori ginbutdifferentaxisdirections,oneoftheco ordinatedsystemscanberotatedintotheother byrotatingabouta thereis morethanonesolutionwhichwillcasetherobot toalign, a devicemotionisdesiredpickfromthePLACE mainmenu:>2 Devicemotioncontro',EC19 Thenextmenuwillappear:-**.

9 **..McDonnellDouglasPLAC! * ! $.. ~ ~ **.** * ~.*.*.** figure7 Toperformthe'gototpoint'-command,thedevi cemusthavea thetpointthatalignswiththegototpointatth eendofa successful'gototpointcommand'.Usuallythe workingtpointofa robotis eitherconnectedtothefaceplateoftheroboto ris connec-tedtoa framethatis desired, tpointdependson:-thedevicetype- onthemotionmodecurrentlyineffectforthede vice( ,jointInterpolated,slew)- onthepositionofthetpoint- CompoundDevicedescribesa a DependentMotionDeviceis a compounddevicewhoseJointsolutionis alwaysdependentonthepositionofsomeotherd evicesina coordinatedmotiondeviceis coordinatedgotofirsta :>2 DeviceMotionControl,ECTodefinea compounddevicepress:>13 Setdevicemotionparameters,EC>11 Definecompounddevice,EC> 1 Definecoordinatedmotiondevice,EC>Enterco mpounddevicename,ECThefollowingmenuwilla ppear:"""'**""""'*'*"*'*"**"**""'**"'*'* *""""""""*";;;McDonnellDouglasPLACE~ele ;SelectEditingModeforCoordinatedMotionDe viceCOMPDEV;;1 AddSub DevicestoCompoundDevice;; ;;3 ExamineSub-DevicesofCoIrpoundDevice.

10 4 UpdateCompoundDeviceDefinition;;;'**'**' *'*""""*""""""*"","""*"""""*"*"'*'figure 8 Addthesub-devicestothecompounddevice:> 1 Addsub-devicestocompounddevice,ECThesyst emwillasktoenterthedevicenames:> namedevice1,EC>namedevice2,EC21 Nowthecompounddevicehastobeupdated:>Term >1 Definecoordinatedmotiondevice,EC>4 Updatecompounddevice, , :>2 Devicemotioncontrol,EC>1 Activedevice,EC>Enterdevicenameorpickwit hthemouseonthescreen>2 Workingtpoint,EC> :>6 Coordinated goto, (gotojoints,gotohome,etc.).Afterhavingde finedthemotionspecificationsforeachsub-d evice, storedseriesofPLACE functionsthatmaybereplayedtosimulatea sequenceincludesallinformationaboutthemo tionwithina :>6 sequenceeditingandcontrol,EC>3 editsequence,ECAsthesequenceeditingmodei sactivenow, :>10 FileManagement,EC>3 Unigraphics11 CLSFtoPLACE conversion, cellcontainingaframewithalltpointsthatre presentthetoolingoftheproductanda sequencewhichdirectsa :>1 Cellediting,EC>10 Connecttpoint, :>3 Moveframesjtpoints,EC>4 Aligntpoints, , :>9 collidemustbedefined.