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MAHARAJA AGRASEN INSTITUTE OF TECHNOLOGY





ROBOTICS PRACTICAL FILE


NAME:_________________________________________________
ENROLMENT NUMBER:____________________________________
BRANCH:_______________________________________________
GROUP:________________________________________________

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EXPERIMENT 1
AIM: To import a robot in workspace, use split screen and different views and make solid
objects with and without Boolean operations.

APPARATUS REQUIRED: Desktop Computer, WORKSPACE 5 Software

INTRODUCTION: Workspace is the area where we are working on and where we want to
design the movement of the robots. This software is to design the robot industry and also used
for mechanism and object simulation.
Different uses of this software are:
IMPORT CAD DATA FROM OTHER CAD SYSTEMS
MODEL WORK CELLS DIRECTLY IN WORKSPACE
USE ROBOTS, MECHANISMS, OR TOOLING FROM THE WORKSPACE LIBRARY,
MODEL YOUR OWN MECHANISM
AUTOMATICALLY GENERATE ROBOT PATHS
GRAPHICALLY EDIT ROBOT PROGRAMS
OPTIMIZE FOR CYCLE TIME, REACH, COLLISION DETECTION
GENERATE ROBOT PROGRAMS OFF-LINE ( NOT AVAILABLE WITH US)
DOWNLOAD PROGRAMS TO A ROBOT CONTROLLER WITHOUT THE NEED FOR POST-
PROCESSING (NOT AVAILABLE WITH US)

Different Coordinate systems:
Working Co-ordinate System (WCS):
A Working Co-ordinate System (WCS) is a local co-ordinate system and it simplifies entering
position or vector information while creating models.
Multiple Working Co-ordinate Systems can be created using Workspace, however, only one can
be active at a time.
The creation of shapes, solids and arcs use the active WCS to determine the position and
orientation of the object being created.

World Co-ordinate System:
The World Co-ordinate System is known as the Global Co-ordinate System and adopts a right-
handed rectangular cartesian co-ordinate system where the x, y, and z-axes are as shown.

PROCEDURE:

Opening Workspace 5:
Start Menu>All Programs>Workspace 5. Click on it and enter CANCEL; DEMO version opens.



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Screen Layout:


Icons at the top of the screen allow quick access to the functions stored within the Menu
Toolbar. Using these icons it is possible to create shapes, change angles and save work along
with various other functions. Directly under these icons, there are two separate windows, the
Project Window to the left (tree menu) and the Main Screen to the right.
The Project Window is used to give a quick overview of the various projects that are opened
e.g. simulation, tools, animation etc. This Window provides project information by simply
clicking right mouse button which activates additional menus with various options. The Project
Window also allows direct control of the overall model or models being used e.g. movement
routines can be made or altered though this Window.
The Main Window on the right hand side of the Project Window is the area where all robot
models, tools, objects and anything relating to these are displayed.
The last Window under both the Project and Main Windows is the Command Line Window that
allows instructions to be given in the form of typed commands as opposed to using mouse
actions. The Command Line Window can also be used to enter in VBA (Visual basic Applications)
commands or macros. Many of the available commands allow direct control of Workspace 5
models.

Importing a Robot:
There is a library of common robot models. These are accurate, Kinematics models based on
the structure and specifications of the particular industrial robot.

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To import a robot go to File>Open>Workspace 5>Robots>Fanuc>Fanuc A520i.


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To combine two robots in a cell, perform the above steps and then do the following:
Go to File>Insert file>Fanuc A600 (set the offset value, say x=1000, otherwise the new robot will
be positioned on the old one).

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Using Split Screen:
To split the screen, import a robot, click and drag the splitter above the scroll bar(right top),
and position it.
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Similarly, the screen can be split vertically using the split icon on horizontal scroll bar (bottom
left).Different views can be obtained by changing the view angle in different screens from the
view window.
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Boolean Operations:
The following operations are made:
Make a rectangular thin section and a cylinder of desired cross section using the create icon.
Select and right click the object to change properties such as dimensions, positions etc.



Change their position and properties accordingly and we get
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Now, go to Modify>Boolean>Subtraction, then select the object to be subtracted. The following
object is created.
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EXPERIEMENT 2

AIM: To make groups, attachments, layers and create our own robot in workspace
Learn to modify objects, attachments and layers.

APPARATUS REQUIRED: Desktop Computer, WORKSPACE 5 Software

PROCEDURE:

1. GROUPS
Step 1- Make 2 boxes as shown in figure below by using CREATE BOX tool. Right click on each
box and select PROPERTIES to change dimensions and positions of boxes.


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Step 2- Make table using CREATE BOX and PROPERTIES tools and align each box to form table
by changing positions and dimensions.



Step 3- Select CAD option (shown in figure below)


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Step 4- Select GROUPS and then properties



Step 5- A dialogue box named GROUPS will appear on screen. Left click on the name for some
time it will become active, then change name (as shown in fig below).Then click on OK. Now the
whole group acts as one.


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2. ATTACHMENTS

Step 1- Make two boxes and select the smaller one, it will behave as a child.



Step 2- Select MODIFY and then select ATTACH from drop down list.

\


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Step 3- Select bigger box and right click on it. Select MOVE command from list.



Step 4- Click and drag the mouse to left side on screen as shown below



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Both components have moved.



3. LAYERS

Step 1- Right click on LAYERS option and then select New Layer option. A new layer named
Layer 1 will appear (as shown in the figure)


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Step 2- Now right click on Layer 1 and select Set Current option from drop down list




Step 3- Make any two objects (At present we are working on Layer 1)



Step 4- Now right click on Layer 0 and select Set Current option. Now make cone in layer 0.
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Step 5- Select and drag one object from one layer to other




Step 6- Now right click on Layer 1 and then properties from drop down list. A box named Layers
will open and then locked the layer 1 as shown in figure below. (IMP NOTE- One layer remains
unlocked even if u try to lock it, then system will show an error and also one cannot lock active
layer)
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Step 7- When one lock a layer then objects present in that layer will disappear (Fig below)




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AIM: Learn to modify objects, attachments and layers.

PROCEDURE:
1) Open Workspace 5 software by double clicking on it.
2) To make a box.



Click on the blue button on the toolbar (3
rd
line from the top), then click at any three points
to make a cuboidal box.

3) Any of the properties of the object can be seen or changed by clicking on the created
object and selecting Properties.

4) Make another box by following the steps in step 2.

5) To change the prevalent World Co-ordinate system and form a new work co-ordinate
system go to Options >> WCS >> 3 points as shown.

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6) TO CHANGE THE COLOR OF THE OBJECT
Right click on the object >> Properties >> Color >> Choose the color >> Click on the object.
Following is a in-program window :



7) To view the wire frame view of our object click on the Wireframe button on the toolbar
(Next to blue button utilized in step 1).

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8) For deleting any of the objects, right-click on the object and choose delete.

9) To change the location of a WCS.


Go to Options >> WCS >> Options >> Properties and set the values according to the need.



Then, if for exam[ple we set the above values, the Co-ordinate system would move as
follows.

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10) Please familiarize yourself with the WCS by changing the values in Properties section
and noticing the effects.

11) To remove any Work Co-ordinate system :
Go to Options >> WCS >> Options >> Select the WCS to be deleted and click
Delete.



12) Working with Object Frame.
Each CAD object has a single implicit Co- ordinate frame (CF) associated with it.

This CF is used when assessing the object position and orientation.
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a) Create a cylinder by selecting a cylinder from the toolbox ( 3
rd
line from the top ) and
then choosing centre of the cylinder followed by its radius and finally its height. Then,
change position of its centre to (0,0,0).
Please follow the figure for any further understanding.



b) To create a new frame.
Right click on the object >> Properties >> Frames >> Add.
Default_Object_Frame is the default name given to the frame.



c) Following the creation of a frame, its location can be adjusted by changing the values of
X,Y,Z in properties.

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13) For Scaling the object following steps need to be followed.
Go to Modify on the top toolbar >> Scale >> Then enter the scaling factor as shown.



14) To move or copy the object to a new location :
Right click >> Copy, Move >> Base point >> Next point.

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14A) Alternately.
Click on Modify >> Copy >> Copy and Translate >> Drag the copy to create one.
(Absolute values can also be set from the location window as shown in figure)



It is suggested that previous step be repeated and effects bt notes.

15) Similarly, Move command may also be used from Modify drop down menu, and
properties also be set in the same way as for the Copy command.
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16) Now, follow the following steps.
New >> File >> Create >> Rectangle>> Properties >> 0, 0, 0.



17) Now, to offset the created object, right-click on it and then select Offset and set the
desired value >> Select the outside to be offset.

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18) Object Snapping.
Go to Options >> Object Snapping >> Active Snap Properties.
Then click the Snap properties as shown in the figure.



Or we may make use of icons also.

19) To make a point on the face of the object using mid-point snap.
Select Snap option from the toolbar >> Select Mid-point from the resultant dialog box.
Then a cylinder may be placed on the mid-point as shown.
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20) Following the creation of the cylinder the mid-point line may be deleted as shown.




21) For further understanding of the Snap command, following steps may be used.
a) A cone is created separately as shown.

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b) Use the Snap command to place the created cone on top of the cylinder as shown.



22) For finding and displaying the dimensions of the created objects.
Options >> Dimensions >> Show dimensions.

Same can also be achieved by the use of Snap command.

23) For Textures, Edit>> Selection modes >> Face.

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24) Click as shown.



25) Select the right location and then Select texture > Modify > Remove.

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26) Text may be written in Paint and then added to main scheme in the following way.



And such would be the result.
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27) For aligning the faces.
Modify >> Align faces >> Select the first plane>> Then the second on top, second has
moved.


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EXPERIMENT 3

AIM: To create an AUXILIARY AXIS & create a ROBOT MECHANISM.

APPRATUS REQUIRED: Desktop computer, WORKSPACE 5 software.

PROCEDURE:

Auxiliary axis:
Here a turn table was used to control the arm of the robot selected.
Now, Insert file >> robot- ABB-6400_2.4 (or any other robot of your choice) >> ZOOM IN to fit.



Now looking at the top of robot arm the turntable was placed directly underside it and a red
part on the turntable was made as shown.
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So, turntable base was selected as parent and turntable top as child. A joint of top with base,
was made. Robot>> properties >>Kinematics>>no of auxiliary axis = 1. We have now one
auxiliary axis assigned with the robot create>>joint. The following screens opened >> click ok.



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There are two main ways to control a robot, i.e. online or offline. Online programming is usually
performed using a teach pendant. A teach pendant is a hand held device connected to the
robot controller via an umbilical cable which enables the user to manually drive the robot to
the desired positions. These positions are then stored in the controller memory for recall as
required.
In a similar way Workspace 5 allows the user to control a robotic model with a simulated teach
pendant. In Workspace 5 the teach pendant can be activated by either selecting the
view/pendant menu or by pressing the letter p on the keyboard. (Please note you can only
open the teach
Pendant once you have previously opened a robotic model. Also the teach pendant is robot
specific).



Looking at Figure, it can be seen that the joint values 1 to 7 refer to the positions of the joints of
the robot model. To accurately position and orientate an object in 3D (three dimensional space)
a robot must have 6 DOFs (degree of freedom). This means that it must be able to move the
tool to an X, Y, and Z position and then rotate the tool about X, Y, Z to provide the correct
orientation.
The second column of values in the pendant menu of Figure provides the Cartesian XYZ position
of the robot gripper followed by ABC, its three orientation angles. Workspace 5 allows these
values to be entered directly.
Several further options are available using the teach pendant. These are:
Follow Mouse When this box is checked the robot moves to the location of the mouse click in
the main view window, if it is possible to do so.
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Home button Repositions the robot to its home position. Usually the home position is the
best park position for the robot when it is not in use. This reduces the amount of tension placed
upon the robots gears and joints.
Motion Type The user can set the motion type to either joint motion or linear motion via this
drop down menu.
Zero button Resets all the joint values to Zero

RESULT: Auxiliary axis was created and robot mechanism was studied.

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EXPERIMENT 4

AIM: To study pendant, robot envelops, creating and modifying G.P and making the robot
follow it.

Requirements: Computer, Workspace 5.0 software

Theory:
Envelope : It is the volume enclosing all the possible positions of the end point of the robot tool.
Geometric points : They are of 2 types assigned and unassigned.

Un assigned
The GP is created without an active Robot in the project

Assigned
The GP is created with an active robot ort mechanism present
FLY BY OPTION
POINT TO POINT
The robot typically stops at each target point velocity at that point = zero.
POINT TO POINT
The robot typically stops at each target point velocity at that point = zero.

Procedure:

Pendant and Envelope
Insert robot ABB 2.4

View>>pendent
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Change the joints up & down







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The absolute values are also changing




Another way : Click on the joint>> this dialog box opens up>>put your value



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The position has changed





Change the absolute>> a number of joints are moving


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A new position note the end position is not changing by changing A / B / C




Home>>relative>>click on tx = translation along x direction takes place ( avoid using the relative
option for now)


Follow mouse option>> where ever you click the robot moves there (a very powerful tool)
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Robot>>envelope








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2 joints>>1,2 >>ok




This is created



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Remove the envelope>> again put new envelope>> change the joint numbers



We get this




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Now use 3 joints option



We get this



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Joint 2 70, joint 2 now put 80, the robot does not move as we have reached the joint limit of
workspace.



Hide envelop




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The envelope has now been hidden



Creating and modifying geometric points



Click three times in the cad view port we see a GP made
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Load A Robot







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Create box use I command



Create GP





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I command>>no path box opens up >> snap tool bar end point>> click on one>>apply>>ok



We have similarly made 4 GP`s at 4 corner positions of the box.




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Create GP at Robot Location Load robot>>view>>pendent>>learn GP>>No path >> OK



Made 3 GP`s>> home to robot




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Close pendent



Right click on GP>> Move to




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Robot has moved to second location



Creating GP`s on edge load robot>>make a box>>edit>>selection mode>>edge






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Select edge>>create GP on edge



This dialog box opens up




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Create>>write 500 as shown>>create



1000>>create




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Creating GP`s on face>>selection mode Face


Select face>>create GP on face





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U= 0.45>>v = 0.45



Another GP U = 0.91, V = 0.81>>create>>close




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Paths and Simulations
Load robot>>pendent>>learn GP>>new>>name path1



Made 3 GP`s in the path


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In the tree we can click and drag the GP`s. We could have also made GP`s first, then path and
could have dragged the GP`s in the Robot Path




The properties can also be changed of GP`s.


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Select all GP`s using shift>>properties>>motion>>joint>>speed = 50 >>apply




Right click on robot>> simulate



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Main menu>>simulate>>play simulation the robot will move through GP`s.



Discussion: We have learnt to make the G.P for the corner points and edges and to move the
robot using fly by and about envelope of the robot.

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EXPERIMENT NO.5

AIM: [A] To get to know TCP and collision detection.
[B] To optimize cycle time using FLYBY option.
[C] To study the behaviour of VBA (Visual Basic Application).

APPARATUS: Computer equipped with software Workspace 5.0.3.1.

THEORY:
TCP stands for Tool Centre Point. It can be defined as trajectory plotting activity which allows a
visible trail to be created from the robots active tool frame. It can also be referred to a
mathematical point coinciding with the origin and which helps the robot to perform its
necessary actions. When the robot itself is shipped from the factory, it needs to know
something about its own dimensions, so normally there will be a centre point in the centre of
its wrist which is the origin or (0,0,0) point. The robot knows where that point is, because it is
defined in the factory for that particular robot arm, but it does not know what kind of tool will
be bolted onto it. A particular robot could be used for welding or material handling or gluing or
a myriad of other applications- and each tool has unique requirements regarding where its tool
needs to contact the work pieces that it's dealing with. For example- For a material handling
robot, the TCP may be at a particular point on the gripper.

Collision detection is a term pretty common in the area of industrial robotics. It refers to
detection of the physical interference of the robotic arm with the object positioned within the
work volume of a robot.

FLYBY is an option used in Workspace software which aims to minimize the operating cycle
time. In a regular PTP control the robot on reaching its destination tends to slow down and
eventually loses on some velocity and time. FLYBY on the other hand enables the robot to take
a smooth curve along such corners which eventually helps the robot in maintaining a constant
velocity.


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PROCEDURE:[A] To get to know TCP and collision detection.
1. Open file and then click on OPEN.



2. Click Robots and then Fanuc. In Fanuc choose Fanuc M6i.




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3. In the Simulation window right click on Tool Framess Nil option and click on Visible
option following which apply the changes made by clicking on apply.



4. In the View option click on Pendent and then click on Learn GP option.




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5. After clicking Learn GP select New in Select Path. A new window will open up shortly by
the name Create Path for Fanuc M6i. Give a legible name to the path say path1.



6. On clicking OK a new path is generated and it can be easily viewed in the Simulation
window under the icon of path by the name path1 and a GP can also be seen in the icon
GP by the name GP0001.

7. Screenshot of the same can be viewed.

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8. The step number 6 is carrying the detail of generating GPs. Again click on Learn GP in the
Pendent and in the Select Path window click on OK.


9. On clicking this option OK it is seen that the number of GPs have increased by one under
the GP icon. Continue with this step till a total of seven GPs are obtained.
10. After the required no. of GPs are obtained using the SHIFT key select all the GPs and drag
into the path icon. Once all the GPs are moved then proceed to the next step.

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11. Right click on Fanuc M6i and select Simulate. It will be observed that neither any
simulation is being run nor any detail has been mentioned regarding the trajectory being
followed by the robotic arm.



12. To view the Simulation modify the GPs by right clicking on them in the Path icon and
selecting their properties. One example has been shown and rest can be derived from
the same.
13. In the GP properties select the position icon and change the values which earlier were
equal to zero and finally click on Apply. Proceed for changing the next GPs in the same
fashion.
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14. The following screenshot shows exactly how the window would appear with different
GPs.

15. Now run the simulation by clicking on Simulate>> Run Simulation.
16. Now to visualize the path click on Robot>> Properties>> TCP Trajectory and click on plot
colour and change it to red. Now run the simulation and observe the change.
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17. A red coloured trajectory is clearly obtained.

18. Now make a cylinder as shown. Since it does not intersect with the trajectory defined
modify its dimensions by right clicking on it and varying its properties.
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19. See whether it intersects or not.

20. Now click on Options>>Collision Detection.
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21. Opt for the same changes shown in the screenshot below and apply them.

22. Now run the simulation and notice the change. A red colour would be visible which is an
indicator of collision. Again in Options>>Collision Detection>>Report all the details can
be seen.
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PROCEDURE [B]: To optimize cycle time using FLYBY option.

1. Open the file FlyBy>>Using FlyBy.wsp>>Open.

2. The following window opens up.


3. Play simulation and note down the run time as shown in the right hand side corner of
the screen. It clocks up to 9.01 seconds.
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4. Right click on the GP002 and alter its properties. Click on Motion and enable FlyBy. Rest
follow the screenshot for other parameters. Please change the properties of GPs from
002-004 excluding the last GP.

5. Now play the simulation. This time the time which has been recorded is 8.12 seconds.

6. Invoke the changes in the GP004 as shown. The percent criterion has been used and the
distance percentage has been kept at 100.
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7. Finally the time recorded on running the simulation is 7.42 seconds.
8. In Robot>>Properties>>Fly By Data change the value for Level1 from 1 to 50.

9. Change the properties of GP002 by selecting Level 1 in Motion command window.
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10. On running the simulation the time recorded id 7.23 seconds.

11. Bring about certain changes in the three GPs from 002-004 by deselecting the distance
mode and affixing the velocity percentage equal to 70%.
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12. On running the simulation the time recorded is 6.94 seconds.

13. Hence this is an option of optimizing the cycle time.
14. Thank You.





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PROCEDURE:[C] Study of VBA Behaviour
Step 1: Load the default class module.
1. Open workspace 5.0 (Demo Version) as directed in the previous experiments. Go to
options>>visual basic.

2. Go to file>>import file>> select behaviours.

3. Select default behaviour folder and open the default behavior.cls file.
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4. From the Project-worksp1 tree in the left, select class modules>>default behaviour.


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Step 2: Apply a rotating behaviour to control a rotating mechanism.
1. Make a turntable as shown.

2. Add the turntable to the mechanism. Click yes.
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3. Then go to options>>visual basic. A new window will open.


4. Right click on worksp1>>import file>>workspace5 folder>> Behaviors>>
RotateMechanismBehavior.cls. Click to open the file as shown in the figure.
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Step 3: Applying the Visual Basic code to the mechanism.
1. In the Visual Basic window, right click on module>>import file>>robot language>> open
WorkspaceRobotLanguage.bas.

2. In the Project-worksp1 tree on the left, right click on worksp1>>insert>>module.
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3. Click on module1 Rename it to turntable_track.

4. Write the code in the window as shown in the figure.
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5. Open file>>select Close and return to workspace. This will take you back to the
workspace window.

6. In the workspace window select Simulation>>VBA track>>VBA track.
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7. Click on Add>>click on subroutine drop down menu>> select
TurntableMechanismTrack. Check In Simulation>>OK

8. Click on Behaviors>>right click>>behaviors
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9. Click on Add>>fill as under>>OK

10. Right click on Turntabletrack under the VBA tracks option>> check simulate.
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11. Open the Simulate>>simulate options>> timing change
100 ms to 10 as shown

12. Simulate. Simulation will run.

13. Right click on VBA Track>>Modify code add more zeros to delay time in milli seconds
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14. Simulate>> check the time delay changes which have taken place

15. This ends the study of behaviours of VBA.


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EXPERIMENT 6

AIM: To attach a tool to the robot and to perform water jet machining and arc welding using a
robot.

Apparatus Required: Desktop computer, WORKSPACE 5 software (DEMO version).
Procedure:
File>>Insert File

Workspace 5 > Tools > Water Jet Nozzels > Flow > Flow Gun_001
We get this,

Insert File > Workspace 5 > Robots > ABB > ABB IRB4400_60
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OffSet X=1000; Click Open
Both Objects are in Workspace,



To attach this tool,
Simulation > Tools. Then Select Tool, Right click and Click Attach to robot.

This is how it looks after attaching the tool.

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To Detach tool from Robot,
Simulation > Robots. Select Robot ABB IRB4400_60, Right click and Click Detach Tool.



Now,
Cad > Select Part of tool using Shift+Click > Attach > Parent - Flow Tool

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Right Click on Flow Tool > Properties > Position
Change X=12722.50
The tool has moved Since it has been detached from the robot.



Creating a Water Jet tool application using an ABB robot

Open > Workspace 5 > Examples > Undefined Tools > Water jet tool-Flow Paser
Waterjet
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Change Color of waterjet base to Red
Cad > Attachments, select Waterjet, Right click > Properties > Color
Select Red Color.



Here, End Object is Cylinder 21.

Select base of tool > create > tool
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Start Object = Waterjet;
End Object = Cylinder 21
VBA off


In Simulation Tab, Start Frame > Right > Right click and Click Properties.
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Load ABB Robot

Waterjet > Right Click and Click Attach to Robot.

Tool is now attached.
Simulation > Tools > Waterjet > Start frame > start > Right Click and click Properties >
Relative to self > Z-axis.
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Rotation has taken place.


Offset distance is required.
Tool frame > Waterjet > Properties > Visible > Relative to self > 60 on Z.

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Make Box and create Work cell and make it Red.


Edit > Selection Mode > Face.
Create > GP > Create GPs on Face
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Manual > New Path > Path1


U-0, V-1 > Create; U-1, V-1 Create
U-0,V-1 > Create; U-0, V-0 > Create
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View > Pendant > Home


Move robot randomly at angles as shown > learn GP


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Drag drop GPs from GPs to Path1 and in path1

Option > Visual Basis

Right Click > Import File


Workspace 5 > Tool Behaviors > waterjet > WaterjetTool.cs
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Worksps1 > Classmodule > WaterjetTool > Right Click and Click View Code.

Tool > Waterjet > Right Click and Click Properties.

Click as Under
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Actions > New action icon > Tool action > Ok


Water jet on > Ok


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Apply>>next>next till last Gp1>>water jet off>>ok>>apply

Right click on robot to set simulation on > Simulate


Blue Color is of water coming from 60mm away tool.


Advanced method of Arc Welding using an ABB robot

File > open Examples > Undefined tools > Arc weld tool-Binzel Cat241d
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Select base > Create tool.
Confirm End Object is Nozzle


Insert Robot.
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Attach Tool to Robot


Make Box
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Edit > Selection mode > Face


Create GP on Face

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New > Manual > Path1
5 GPs are made



View > Pendant > Learn GP > Next GP Joint 2 = -10, 3 = 30 , 5 = 10



VBA > Insert file > Tool behaviors Arcweld > ArcWeldTorch.cs > View Code
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File > Close and Return to Workspace
Tools > CAT241D > Properties > Click as under

Tool Frames > Relative to self > Put Z=170

Simulate
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EXPERIMENT 7
AIM: To attach an Arc Welding tool to robot and Automatic Path Generation of robotic arm.
APPARATUS REQUIRED: Desktop Computer, WORKSPACE 5 Software.
THEORY: Workspace is the area where we are working on and where we want to design the
movement of the robots. This software is to design the robot industry and also used for
mechanism and object simulation.
Different uses of this software are:
IMPORT CAD DATA FROM OTHER CAD SYSTEMS

MODEL WORK CELLS DIRECTLY IN WORKSPACE

USE ROBOTS, MECHANISMS, OR TOOLING FROM THE WORKSPACE LIBRARY,

MODEL YOUR OWN MECHANISM

AUTOMATICALLY GENERATE ROBOT PATHS

GRAPHICALLY EDIT ROBOT PROGRAMS

OPTIMIZE FOR CYCLE TIME, REACH, COLLISION DETECTION

GENERATE ROBOT PROGRAMS OFF-LINE ( NOT AVAILABLE WITH US)

DOWNLOAD PROGRAMS TO A ROBOT CONTROLLER WITHOUT THE NEED FOR
POST-PROCESSING (NOT AVAILABLE WITH US)

AUTOMATIC PATH GENERATION
We can choose to use either Automatic Path or Semi-Automatic Path.
Automatic Path creates all of the GPs in one step. Semi-Automatic Path allows the user to
accept, reject, or edit each GP as it is created.
PROCEDURE
1. Opening Workspace 5:

Start Menu>All Programs>Workspace 5. Click on it and enter CANCEL; DEMO version
opens.

2. Open Examples
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3. A robot and part comes on the screen as shown:-

4. Paths>>right click>>new
5. Path1>>generic automated
6. Select top face of the work piece>this dialog box opens:-
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7. Constraints>>this dialog opens up

The GP Constraints for Feature dialog allows us to set constraints on two of the axes of the GPs
that are created relative to the feature.
This gives control over the orientation of the GPs as they are created. The axes of the GPs can
be set Normal to, Parallel to, or Tangent to, the Part Surface, the Adjacent Surface, the Part
Edge or the axes of the World Co-ordinate System.
8. Modify changes as shown
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9. ADD>> CLOSE
10. Create>>gp`s are now created as shown:-

11. Close>>set to simulation mode >> Simulate.
Creating a Semi-Automatic Path on a Cad Object
Semi-Automatic Path Generation allows us to Accept, Reject or Edit each GP as it is
created.
The procedure is very similar to the procedure for Automatic Path Generation.
1. Open the same example.
2. Generic automated>>path1>>this dialog opens up
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3. Select an outer edge>>constraints
The Feature and Point Number boxes give the Current GP number and the Feature it is
associated with.

The Forward and Reverse Arrow buttons moves the robot to the next or previous GP in the
path,

and the To Preview button returns the robot to the original position of the GP after the robots
position has been edited using the pendant .
Once the Pendant is open the Forward arrow button moves the robot to the initial
location of the first GP in the path.
We can then edit the position of the robot with the pendant and set the motion type.
Once the position and motion type are set, Learn GP creates the GP and places it in the
path.
At this point we can either hit the Forward Arrow button to move to the next GP in the
path, or further edit the current GP and then hit Modify GP to store the changes.
4. Click on arrow and check that the robot is moving to next Gp.

5. Change B value to 30 for a particular Gp

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6. Change this motion type to linear i.e. it will now take shortest path

7. Modify Gp`s>>Simulate
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Advanced method of Arc Welding using an ABB robot
The ArcWeldTorch behavior is used to simulate the yellow sparks that fly from the end of the arc
weld torch during welding.
1. File>>open>>examples>>undefined tools>> this arc weld tool

2. Select base >>create tool
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3. Confirm, End object is nozzle
Fill this dialog as shown and remove VBA generation at his point

4. A tool has now been created with a default Start and End frame position.
5. Insert robot.

6. Attach to robot (its not necessary to position the robot at some other location Here we
had taken it at x = 2000 mm)
Tool is attached as shown
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7. Lets create the Welding cell and GPs.
8. Check the dimensions from help, or create your own
9. Make box
10. Edit>>selection mode>>face
11. Create Gp on face
12. Path1 >>Manual
13. 5 gp`s are made using U and V values

14. Pendent >> learn Gp>> next Gp Joint 2 = -10, 3 = 30 , 5 = 10
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15. Copy Gp`s to have a sequence as shown

16. VBA>>insert file>>tool behaviors>>arc tool>> view code
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17. File>>close and exit. Tools>>CAT241D>>properties> click
18. Note this distance between the nozzle tip and WCS =~170 mm

19. Tool frames>> put this value in Z
20. Simulate
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EXPERIMENT 8

AIM: To optimize cycle time using FLYBY OPTION.

APPRATUS REQUIRED: Desktop computer, WORKSPACE 5 software (DEMO version).

Theory:

Optimizing the cycle time is one of the key design parameters in most work cells. Decreasing
the cycle time obviously can lead to greater production.






Point accuracy is the criterion that defines when the robot has reached the target point. There
are two types of parameters that can be used in setting point accuracy in Workspace:
1) Distance - represents the radius of an imaginary sphere with the center as the target point.
The distance criteria can be set as mm, % or Level.
2) Velocity criterion - while approaching the target, the robot decelerates. The critical velocity
is set as a percentage of the velocity set for this GP move. A criteria of 100% corresponds to no
deceleration.
Important Key Points:
Flyby motion will be turned off in case of circular motion.
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If the motion type changes before and after the flyby zone, flyby will be turned
off.


PROCEDURE
Step 1: Open the workspace by clicking on Workspace Icon on the Desktop


Step 2: Insert the robot
Browse the workspace5 directory and in the Examples folder, select the folder Flyby and open
the file within it called Using FlyBy.wsp.



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STEP 3:View the postion of the end effector
View the pendant by clicking P key. The pendant displays the position of the end effector
related to robot base.



End Effector
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STEP 4: Run Simulation and check cycle time
To Run Simulation click on Simulate Tab then click on play simulation
To check Cycle Time view the lower right hand corner.








Step 5: Optimize cycle time by using flyby option
Analyzing GP properties and turning on the flyby option.
Go to Project window to the left(tree menu).
Right Click on GP002 and click on properties .
Repeat the steps for the subsequent GPs
NOTE: The first and last GP cant be modified.

CYCLE TIME
Simulate Tab
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TREE MENU
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S


Step 6: Simulate and check machining time:
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RESULT:
The cycle time was reduced from 9.01 to 8.71 seconds .
CYCLE TIME

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