tailieunhanh - Crc Press - Mechanical Engineering Handbook - Robotics 1 Part 6

Tham khảo tài liệu 'crc press - mechanical engineering handbook - robotics 1 part 6', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 14-50 Section 14 PCPROCEED Resume execution of a process control program PCRETRY After an error resume execution at the last step tried PCEND Stop execution of the program at the end of the current execution cycle Example Program This program demonstrates a simple pick and place operation. 1 .PROGRAM 2 Pick up parts at location pick and put them down at place 3 parts 100 Number of parts to be processed 4 height1 25 Approach depart height at pick 5 height2 50 Approach depart height at place 6 16 Setup for slow hand 7 OPEN Make sure hand is open 8 MOVE start Move to safe starting location 9 For i 1 TO parts Process the parts 10 APPRO pick height1 Go toward the pick-up 11 MOVES pick Move to the part 12 CLOSEI Close the hand 13 DEPARTS height1 Back away 14 APPRO place height2 Go toward the put-down 15 MOVES place Move to the destination 16 OPENI Release the part 17 DEPARTS height2 Back away 18 END Loop for the next part 19 TYPE ALL done. I3 parts parts processed 20 STOP End of the program 21 .END Off-Line Programming and Simulation Computer-integrated manufacturing operations require off-line programming and simulation in order to layout production facilities model and evaluate design concepts optimize motion of devices avoid interference and collisions minimize process cycle times maximize productivity and ensure maximum return on investment. Commercially available software . ROBCAD and SILMA SILMA Inc. 1992 provides support for 3D workable layouts including robots end effectors fixtures conveyors part positioners and automatic guided vehicles. Dynamic simulation allows off-line creation animation and verification of robot motion programs. However these techniques are limited to verification of overall system layout and preliminary robot program development. With support for data exchange standards . IGES International Graphics Exchange Specification VDAFS Virtual Data Acquisition and File Specification SET Specification for .