Modelando um robô comercial de 6 GDL usando o V-REP (Virtual Robot Experimentation Platform)

Abstract

This paper describes the development of a simulation model of a commercial robot manipulator widely applied in the industrial field (the Yaskawa Motoman HP20D) with 6 degree of freedom using the Virtual Robot Experimentation Platform (V-REP), an widely used simulation platform which has a educational version for academics purpose. The method used consist of: import and simplification of the 3D model, development of a visual model and of a dynamic model, creation of joints and hierarchy of the links. After the development of the simulation model, it has planned trajectories and movements of the robot manipulator through offline programming using a plugin, the OMPL (The Open Motion Planning Library). Two welding example scenes were created, where octree voxels were added representing the weld bead. The first scene is the welding of two flat quarter inch plates in butt joint with V chamfer at 1G position. This process was made in three steps and using techniques to avoid distortion generated by the weld. The second scene is the welding of the flanges in the web of I-profile at 2F and 4F positions. An analysis of the torch welding process velocities revealed that the implemented method presents welding velocities fluctuations. We concluded that the software is quite versatile and allows many simulation possibilities of automation and due the complexity of the method, it becomes feasible only for high volume or academic purposes.