Inventor General Discussion

## Inventor General Discussion

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Posts: 311
Registered: ‎05-30-2009
Message 1 of 17 (1,684 Views)

# Dynamic Simulation - Robots

1684 Views, 16 Replies
04-19-2011 12:32 AM

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

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Ravi Kumar MB,
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Email: ravikmb5@gmail.com
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Registered: ‎04-20-2006
Message 2 of 17 (1,676 Views)

# Re: Dynamic Simulation - Robots

04-19-2011 03:06 AM in reply to: ravikmb5

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Valued Mentor
Posts: 311
Registered: ‎05-30-2009
Message 3 of 17 (1,667 Views)

# Re: Dynamic Simulation - Robots

04-19-2011 04:15 AM 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

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Ravi Kumar MB,
i7 860 Dell Studio XPS Win 7 64 bit 12 Gb RAM
Autodesk Inventor Certified professional 2014
Email: ravikmb5@gmail.com
Employee
Posts: 651
Registered: ‎06-07-2007
Message 4 of 17 (1,637 Views)

# Re: Dynamic Simulation - Robots

04-19-2011 08:49 AM 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)

8)  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
Simulation QA Engineer
DLS
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Posts: 311
Registered: ‎05-30-2009
Message 5 of 17 (1,618 Views)

# Re: Dynamic Simulation - Robots

04-19-2011 10:02 AM 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

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Ravi Kumar MB,
i7 860 Dell Studio XPS Win 7 64 bit 12 Gb RAM
Autodesk Inventor Certified professional 2014
Email: ravikmb5@gmail.com
Valued Mentor
Posts: 311
Registered: ‎05-30-2009
Message 6 of 17 (1,605 Views)

# Re: Dynamic Simulation - Robots

04-19-2011 10:58 AM in reply to: ravikmb5

how did u calculated this curve from Spatial joint

Could u be more Specific

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Ravi Kumar MB,
i7 860 Dell Studio XPS Win 7 64 bit 12 Gb RAM
Autodesk Inventor Certified professional 2014
Email: ravikmb5@gmail.com
Employee
Posts: 651
Registered: ‎06-07-2007
Message 7 of 17 (1,585 Views)

# Re: Dynamic Simulation - Robots

04-19-2011 01:50 PM 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
Simulation QA Engineer
DLS
Valued Mentor
Posts: 311
Registered: ‎05-30-2009
Message 8 of 17 (1,526 Views)

# Re: Dynamic Simulation - Robots

05-09-2011 09:46 AM 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

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Ravi Kumar MB,
i7 860 Dell Studio XPS Win 7 64 bit 12 Gb RAM
Autodesk Inventor Certified professional 2014
Email: ravikmb5@gmail.com
Employee
Posts: 651
Registered: ‎06-07-2007
Message 9 of 17 (1,517 Views)

# Re: Dynamic Simulation - Robots

05-09-2011 09:54 AM in reply to: ravikmb5

Well done Ravi!  I like the welding animation too

Hugh Henderson
Simulation QA Engineer
DLS
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Posts: 28,221
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Message 10 of 17 (1,516 Views)

# Re: Dynamic Simulation - Robots

05-09-2011 10:02 AM in reply to: ravikmb5

Very nice.

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