Roman Ružarovský

Offline Programming of an ABB Robot Using Imported CAD Models in the RobotStudio Software Environment

Current trend in automation area is focused to the innovation in all fields of the technologies and technological devices. Probably industrial robots and manipulators belong to development too. Industrial robots and manipulators belong to progressive elements of automation. Modern concept uses the offline programming as a tools integration of the virtual CAD models into programming environment. Offline programming carries a lot of advantages for example possibility of the programming without real robot system, possibility of the collision state debugging. Implementation of CAD models in virtual environment of Robot studio achieves better workplace station of creating robotic system and also it generates rather trajectories of the robot path in this system.

Layout Redesign and Material Flow Analysis at a Flexible Assembly Cell Supported by the Use of Simulation

This paper essentially emerges from scientific and teaching needs of a university institute while trying deepen into a more formal analysis and/or design process of the material flow and associated manufacturing decisions, e.g.: the layout. Fulfilling such needs, the paper makes allusion to key manufacturing decisions associated to the material flow, while stressing the fact of their mandatory consideration when integrally addressing the primary problem. A partial application of the ideas takes place at a flexible assembly cell of the institute; some of the main results of it are: (1) a more formal description of the whole cell including alternative material flow scenarios, (2) the proposal of a new scenario implying the redesign of the cell conception, i.e.: the layout and thus material flow itself, (3) the simulation and comparison of material flow scenarios selecting the best one in terms of both the MF and layout, among others. At the end, the integration of all these previous elements clearly contributed to the solution of the research’ problem and objectives traced within the frame of the research.

Direct Production from CAD Models Considering on Integration with CIM Flexible Production System

Production engineering is currently characterized with continuously changing and expanding, producers have to be flexible in this regard. It means that need to offer production possibilities, which can respond to the quick change. Engineering product development is focused on supporting CAD software; such systems are mainly used for product design. The integration of flexible manufacturing systems and subunits together with product design and of engineering is a possible solution for this issue. Product designers use different types of CAD systems that are incompatible with each other. To enter a new product, it is necessary to transform CAD data and re-enter into the production system used by the manufacturer. The solution is to generate NC data directly from a CAD model and transform the data uploading to control system of flexible manufacturing system. The integration of flexible manufacturing systems and subunits together with product design in CAD and of engineering is a possible solution for this issue. Integration is possible through the implementation of CIM systems. Such an explanation and finding a connection between CAD and production system ICIM 3000 from Festo Co. is engaged in the research project and this contribution.

Virtual Commissioning of a Robotic Cell Prior to its Implementation Into a Real Flexible Production System.

Abstract With the rise of the Industry 4.0 and the digitization increase in the field of design of the automated devices and systems, raises the requirements to digitize all stages of the design processes, including Virtual Commissioning. This technology allows to verify the functionality of the device and/or systems, generate OLP programs for robots and test the functionality of the PLC code on the virtual model. The article presents research into the possibility of implementing a robotic cell into a real flexible production system in the Laboratory in order to eliminate defective products after an automatic control through the Quality-handling station. This technology was verified on the basis of a methodology through a virtual system model and a virtual control system in the Software-in-Loop using the Siemens Tecnomatix Process Simulate software.

Using Virtual Reality as a Support Tool for the Offline Robot Programming

Abstract The present article focuses on the possibilities of using Virtual Reality (VR) as a supporting tool by using the offline programming method for industrial robots. The philosophy of using such a process is hierarchically linked to the observance of methodological procedures for the proposal new workstations with using industrial robots. First, it is necessary to develop CAD models of the projected workplace, which can be imported into a suitable simulation environment for the creation of robotic simulations with support for visualization to the immersive VR environment. In our case, the CAD software Catia was used to develop a workstation, followed by integration of the CAD database into the simulation environment of Process Simulate (PS). Support for the visualization in the immersive environment of the Virtual Reality of Process Simulate was vested using the glasses headset HTC VIVE.

Integrative Programming of Production and Preventive Maintenance Tasks in an Environment of Identical Parallel Machines: Proposal of a Construction Heuristic

Abstract The article presents a constructive heuristic for the integrated programming of production orders and preventive maintenance (PM) interventions in an environment of identical parallel machines, aimed at minimizing the completion time of the last scheduled job (makespan). Unlike other proposals found in the literature, the one here considers that the time between preventive interventions is not previously known, but instead, this is assumed as one of the decision variables of the system in the beginning of each of these interventions; in addition, the proposal also considers the possibility that not all jobs have the same release time. The design of the heuristic algorithm is based on the general approach of the Longest Processing Time dispatch rule, with a slight modification in its conception to consider the random character of the equipment failures and their impact on the execution time of the tasks. Consequently, a simple dispatch rule called rj - LPT was also proposed to comply with one of the steps of the heuristic, as well as an algorithm to determine the minimum dimension for the makespan, which constitutes the basis of the stop criterion linked to the initial solution.

Measuring and evaluating the differences of compared images for a correct car silhouette categorization using integral transforms

Abstract The present paper focuses on the analysis of the possibilities of using integral transforms for measuring and evaluating the differences of compared images (car silhouettes) with the purpose of a correct car body categorization. Approaches such as the light intensities frequency change, the application of discrete integral transforms without the use of further supplementary information enabling automated data processing using the Fourier-Mellin transforms are used within this work. The calculation of the several metrics was verified through different combinations that implied using and not using the Hamming window and a low-pass filter. The paper introduced a method for measuring and evaluating the differences in the compared images (car silhouettes). The proposed method relies on the fact that the integral transforms have their own transformants in the case of translation, scaling and rotation, in the frequency area. Besides, the Fourier-Mellin transform was to offer image transformation that is resistant to the translation, rotation and scale.

Automated In-Process Inspection Method in the Flexible Production System iCIM 3000

The quality of products and production processes crucially influences the position of the enterprises on the market. The paper deals with the analysis of the activities of the test station, analysis of operations necessary to carry out the testing, what component is tested and which parameter is evaluated, where the measured values are sent and how is processed the evaluation in the flexible production system iCIM 3000 to be found at the Institute. The result of the project is to analyze the principle and in-process methods of inspection and testing at the station and the principle of processing of the results, which are processed using mathematical and statistical operations. These in-process inspection methods automatically eliminate various influences and factors that negatively affect the accuracy of parts and labor capacity of the machine. It contributes to shortening the preparatory and subsidiary times and the correction of the tool adjustment in the operating position on the machine. It is belonged the automatic modification of part-programs to the functions of an active control.

Laboratory of Flexible Manufacturing System for Drawingless Manufacturing

Flexible Manufacturing Systems provide a fast reaction possibility to the changes in production conditions. For achieving a quick responsibility of production, it is necessary to leave the traditional form of production process planning. Nowadays, most of the products are designed by using CAx software. The product design of 3D model contains not only the geometrical data of product, but it may contain a part of the process plan and technological data as well.

Design of Camera System Location at the Station for Loading and Orientation

In this contribution is presented design of camera system location at the station for loading and orientation at the intelligent assembly cell. This intelligent cell is situated at the Institute of Production System and Applied Mechanics. The complex design of camera system is going out the intelligent manufacturing systems knowledge. The cell is used for assembly pneumatic actuators. These actuators are consisting of four parts. These parts - semi products of pneumatic actuators are transported from station for loading and orientation, shelf storage system to the workplace of intelligent assembly cell. At the station for loading and orientation is designed camera system for identification assembly parts (rollers and pistons).