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Dynamic Simulation - Robots

17 REPLIES 17
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Message 1 of 18
ravikmb5
6591 Views, 17 Replies

Dynamic Simulation - Robots

i have Five Axis robot used for Welding 

 

the end point of robot should move along a straight line and this should be achieved by Combination of Certain revolutionary joints

 

has anybody this before

Please mark this response as Problem Solved if it answers your question.
----------------------------------------------------------------------------------------------
Ravi Kumar MB,
i7 860 Dell Studio XPS Win 7 64 bit 12 Gb RAM & HP Z220 SFF Workstation
Autodesk Inventor Certified professional 2016
Email: ravikmb5@gmail.com





17 REPLIES 17
Message 2 of 18
JDMather
in reply to: ravikmb5

Attach your assembly here.


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Message 3 of 18
ravikmb5
in reply to: JDMather

Here the Rotary table Rotates 90 degree and stops for 7.5s

by that time robot comes to the poisition and does the welding

 

Rotary table ds

 

1254.png

Please mark this response as Problem Solved if it answers your question.
----------------------------------------------------------------------------------------------
Ravi Kumar MB,
i7 860 Dell Studio XPS Win 7 64 bit 12 Gb RAM & HP Z220 SFF Workstation
Autodesk Inventor Certified professional 2016
Email: ravikmb5@gmail.com





Message 4 of 18
henderh
in reply to: ravikmb5

Hi Ravi,

 

  This is the "Inverse Kinematic" problem that can be solved by Dynamic Simulation.  Attached is a demo dataset.

 

  The basic steps are:

 

Define the mechanism:

  1)  Create the revolution joints in the Robot arm

 

Create the desired motion:

  2)  Create a spatial joint between the welding tip (end-effector, etc.) of the robot arm

  3)  Set up the desired imposed motion in the spatial joint => this will create the position versus time functions in the revolution joints automatically

  4)  Run the simulation

 

Save the desired motion:

  5)  In the output grapher, activate the postion of only the first revolution joint => save this as a curve file (RMB on the column header => Save curve as...)

  6)  Repeat for the remaining revolution joints

 

Input the desired motion:

  7)  In the first revolution joint, use the Input Grapher to import the corresponding saved curve (use the spline function)

  😎  Repeat for the remaining joints and corresponding curve files

 

Run the simulation to verify the inverse kinematics:

  9)  Suppress the spatial joint & run the simulation.  This will use the inputs to the revolution joints instead of the spatial joint.

 

There is a video that goes along with the demo dataset, but it is too big to post (~19 MB).  Please let me know if you'd like me to email it to you.

 

Hope this helps!

 

Thanks, -Hugh

 

hugh(DOT)henderson(AT)autodesk(DOT)com



Hugh Henderson
QA Engineer (Fusion Simulation)
Message 5 of 18
ravikmb5
in reply to: henderh

Hai Hugh

Thank u

 

i have done some theoritical calulation

but combination of those movements is not the same result in DS

 

could u send me the video to

 

my email id is

ravikmb5@gmail.com

Please mark this response as Problem Solved if it answers your question.
----------------------------------------------------------------------------------------------
Ravi Kumar MB,
i7 860 Dell Studio XPS Win 7 64 bit 12 Gb RAM & HP Z220 SFF Workstation
Autodesk Inventor Certified professional 2016
Email: ravikmb5@gmail.com





Message 6 of 18
ravikmb5
in reply to: ravikmb5

how did u calculated this curve from Spatial joint

 

Could u be more Specific

 

2222222.png

 

 

 

 

Please mark this response as Problem Solved if it answers your question.
----------------------------------------------------------------------------------------------
Ravi Kumar MB,
i7 860 Dell Studio XPS Win 7 64 bit 12 Gb RAM & HP Z220 SFF Workstation
Autodesk Inventor Certified professional 2016
Email: ravikmb5@gmail.com





Message 7 of 18
henderh
in reply to: ravikmb5

Hi Ravi,

 

  I've emailed you the video demo.

 

  Those curves were automatically calculated.

 

  In order to make spatial joint drive the mechanism:

 

1)  Open "6 Axis Robot.iam" in DS

2)  Unsuppress the Spatial joint (open the joint properties to see the imposed motion.  This is where the sinusoidal motion and and linear translation are defined)

 

  De-activate the revolution joints driving the mechanism:

3)  Shift+select the revolution joints in the browser => properties

4)  In the joint properties dialog, press the imposed motion button and uncheck the imposed motion checkbox

 

5)  Run the simulation

6)  View the corresponding positions of the revolution joints in the output grapher

 

  As JD mentioned, if you could post your robot arm assembly we can take a closer look.

 

Thanks, -Hugh



Hugh Henderson
QA Engineer (Fusion Simulation)
Message 8 of 18
ravikmb5
in reply to: henderh

Hai Hugh

 

i have achieved this Simulation

 

as u suggested ihave used spatial joint

and replicated back those curves to Different axis

 

thanks

 

here is the Video

 

http://www.youtube.com/watch?v=Zx4aUxJUZNo

 

Please mark this response as Problem Solved if it answers your question.
----------------------------------------------------------------------------------------------
Ravi Kumar MB,
i7 860 Dell Studio XPS Win 7 64 bit 12 Gb RAM & HP Z220 SFF Workstation
Autodesk Inventor Certified professional 2016
Email: ravikmb5@gmail.com





Message 9 of 18
henderh
in reply to: ravikmb5

Well done Ravi!  I like the welding animation too Smiley Happy



Hugh Henderson
QA Engineer (Fusion Simulation)
Message 10 of 18
JDMather
in reply to: ravikmb5

Very nice.


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Autodesk Inventor 2019 Certified Professional
Autodesk AutoCAD 2013 Certified Professional
Certified SolidWorks Professional


The CADWhisperer YouTube Channel


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Message 11 of 18
PeteMaxfield
in reply to: ravikmb5

Nice work, Ravi!

 



Peter Maxfield
Message 12 of 18
meshmesh558
in reply to: henderh

Dear Eng. Hugh,

 

I will be grateful if you can send to me the video that goes along with the demo dataset (hesham.shehata@outlook.com). Thank you for your co-operation in advance.

 

Best Regards,

--

Hesham Shehata

Mechanical Engineer

 

Message 13 of 18
henderh
in reply to: meshmesh558

Hi Hesham,

 

  I've emailed it to you and posted the video and dataset on A360 here: 6 Axis Robot Example 2

 

Thanks,



Hugh Henderson
QA Engineer (Fusion Simulation)
Message 14 of 18
jwalch99
in reply to: henderh

I have a similar application where inverse kinematics are required.  I am using Inventor 2014, and the option to "Save curve as" is not available.  I only see the option of exporting a txt file.  The only file type that I can import into a joint is a cgd file.

 

Is there a way to export the position data and import it back in to the joint for a realistic simulation?

 

Thanks,
Jared

Message 15 of 18
henderh
in reply to: jwalch99

Hi Jared,

 

  You're right, the actual name of the command is 'Save Values as...'

DS_Save_Values_as.png

 

 

  Once you have the text file, don't try to import it as a *.cgd (i.e. Load Curve command).  Instead:

1. Change the input grapher law to Spline in the drop down

2. Press the 'Replace the current law' (arrow key)

3. Import / Load the spline using the folder button that appears.

 

DS_import_Curve.png

 

Hope this helps.

 

 



Hugh Henderson
QA Engineer (Fusion Simulation)
Message 16 of 18
jwalch99
in reply to: henderh

That works.

 

Thanks!

Message 17 of 18
DanielRochaBR
in reply to: ravikmb5

Hello Hugh, would it be possible you pass a detailed tutorial of simulation done with the robot attached (Welding in curve / spline);
Thanks in advance!

Email: Danielcardosomg@yahoo.com.br

Message 18 of 18
ngoluanvtcvp
in reply to: henderh

 Hi Hugh,

Can you send to me the video for set up the desired imposed motion in the spatial joint => this will create the position versus time functions in the revolution joints automatically? My email is ngoluan.mta@gmail.com.

Thanks.

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