Eventos Anais de eventos
COBEM 2021
26th International Congress of Mechanical Engineering
MODELING AND SIMULATING A COMMERCIAL ROBOTIC MANIPULATOR USING COPPELIASIM
Submission Author:
Amanda Kozlowski de Morais , GO
Co-Authors:
Amanda Kozlowski de Morais, Felipe Arantes Lobo, João Paulo Fonseca
Presenter: Amanda Kozlowski de Morais
doi://10.26678/ABCM.COBEM2021.COB2021-1147
Abstract
Industrial robots and their applications have received increasing attention in recent years, mainly due to the expansion of industry 4.0 and digital manufacturing concepts, generated a growing demand for robust virtual environments that make possible to design and test a variety of applications and new possibilities for control architectures, without relying solely on the availability of hardware. This paper aims to present the application of an accessible method for building an industrial robotic manipulator simulation model. This objective was designed due to the high technological level required in equipment and processes of in industry 4.0 which ones are not a reality for all industries and research centers, so that many still need to adapt to it and look for tools to remain competitive and active in the market. For the development of this test model, it was opted to use CoppeliaSim, a virtual experimentation platform specifically for robotics, with free versions. The robotic manipulator building in the virtual environment started at a CAD3D model made available by the manufacturer, configuring triangular meshes, inertia moments and mass center position of each robot link as well as the dynamic relationship between links and adjacent joints. With the model adapted to the software, routines were used for the visual and dynamic model development, in addition to the manipulator joints creation and positioning. Then, with components developed and positioned, the hierarchy is obtained, which determines how robot's movement will be developed. After obtaining the manipulator model, it was proceed to a verification step, in which scenarios are created with tasks of movement and manipulation of the terminal element, validating the functionality of direct and inverse kinematics, as well as trajectory calculation for the built model. For this purpose, welding scenarios were proposed, which were implemented from different positions and welding techniques. For the representation of the weld bead, a volume definition using voxel function was performed. During the simulation, the speed of each robotic manipulator link and joint can be monitored and controlled, which facilitates the evaluation of its behavior, since the speed of the welding torch is an extremely important parameter in the result. Finally, it is concluded that the software used is applicable to the proposal of the work, being presented as an alternative tool for industries and research centers inserting themselves in Industry 4.0, requiring only the 3D manipulator model to generate simulation environment that can be applied to different scenarios.
Keywords
Robotics, Manufacturing, Simulation, industry 4.0, coppeliasim
