实训项目9 双臂机器人装配

1、实训项目9 双臂机器装配工作站1、 在ROBOTSTUDIO中进行机器人及周边设备的合理布局。2、 在ROBOTSTUDIO中的工具的使用3、 Smart组件的使用4、 机器人IO信号的设定与链接5、 机器人轨迹的创建6、 机器人编程、仿真调试。 机器人工作站的布局所有的部件已包含在打包文件中。双击打开打包文件后，请按照以下的图1中所示进行布局。图1 机器人工作站的布局示意要注意的问题：1、 机器人与周边的部件的位置要合理，周边部件应在机器人的工作范围的中间位置为佳。2、 可以对机器人的操作，以确认机器人可以到达要取、放的最远端是可以顺利到达的，否则以后再调整就会很麻烦了。Smart组件的基本

2、使用 在本项目中我们需要建立三个smart组件来支持完成这次的项目内容，现在对这三个组件进行简单的说明：STool_L：主要功能是左臂的夹具夹取的动态效果。STool_R: 主要功能是右臂的夹具夹取的动态效果。STool: 主要功能是右臂和左臂的夹、取的属性，以完成工件被工具的作用。详情看视频，操作说明如下：建模-smart组件-添加组件1、添加如左边三个组件，并命名。 2、添加如下组件，并命名（在组件中后面中O表示Open、C表示close）3、设置第一个组件的属性4、设置第二个组件的属性5、设置第三个组件的属性6、设置第四个组件的属性7、设置第四个组件的属性8、新建SC组件I/O信号，并进

3、行如下I/O连接。注：STool_R和STool_L的组件编辑步骤基本一致STool的组件2、在两个组件组中把TB1_R和TB1_L两个工件拉入SC组件中1、建立左边9个组件并命名3、设置第1个组件的属性4、设置第3个组件的属性3、设置第2个组件的属性5、设置第4个组件的属性6、设置第5个组件的属性7、设置第6个组件的属性8、对组件进行属性的连结9、建立两个控制信号10、建立I/O连接机器人IO的设定为了实现真夹具动作的夹/放的动作控制，为了至少需要设定一个虚拟的数字输出信号，这个信号只用于虚拟仿真的作用，并没有与实际的总线或IO板进行关联。数字输出信号的设定菜单操作为：控制器-配置编辑器-I

4、O SYSTEM-SIGNAL。建立系统5个I/O信号然后将信号设定为以下的表1的参数：机器人轨迹的创建机器人的动作是从左侧的码垛盘存放处搬运到右边的的方形的码垛盘处。具体的操作方法如下：1、 设置正确的工件坐标与工具，如下图所示： 2、 根据具体的情况，设定正确的机器人运动指令的参数，如下图所示：3、 根据动作的要求通过示教指令的方法，创建对应的轨迹程序，程序样板如下图所示：T_ROB_L机器人程序模板MODULE Module1CONST robtarget phome_l:=-563.451929379,982.029785215,232.601048304,0.066012106,0.

5、84242027,-0.111217294,0.523069025,0,0,0,11,107.815864494,9E9,9E9,9E9,9E9,9E9; CONST robtarget pick_L_1h:=-503.599237428,1300.382600486,210.673683472,0.505448359,-0.507268636,-0.494061246,-0.49305575,-1,-2,0,11,107.72481651,9E9,9E9,9E9,9E9,9E9; CONST robtarget pick_L_1:=-503.599520007,1300.382104399,

6、105.777189938,0.505448232,-0.507268559,-0.494061516,-0.493055689,-1,-2,0,11,107.724832302,9E9,9E9,9E9,9E9,9E9; CONST robtarget place_LW:=-52.117887865,930.079466801,365.631589077,0.228935001,-0.652189216,0.681163242,-0.241359959,-2,1,-2,11,107.724644984,9E9,9E9,9E9,9E9,9E9; CONST robtarget place_L_1

7、:=-47.831471455,854.021612335,118.453730857,0.027203377,0.694879493,-0.031194138,0.717934115,-2,-1,0,11,107.724382066,9E9,9E9,9E9,9E9,9E9; CONST robtarget Target_70:=-47.831671726,854.022133648,232.29250899,0.027203345,0.694880017,-0.031194381,0.717933598,-2,-1,0,11,107.724373014,9E9,9E9,9E9,9E9,9E9

8、; CONST robtarget place_LW_h:=-52.117706711,962.064273394,365.631272923,0.2289349,-0.652189063,0.681163525,-0.241359669,-2,1,-2,11,107.724670321,9E9,9E9,9E9,9E9,9E9; CONST robtarget Target_110:=-213.252289392,1154.63138987,365.630542088,0.228934017,-0.652189326,0.681164046,-0.241358326,-2,1,-1,11,10

9、7.724630468,9E9,9E9,9E9,9E9,9E9; CONST robtarget place_L_1_h:=-47.831671726,854.022133648,232.29250899,0.027203345,0.694880017,-0.031194381,0.717933598,-2,-1,0,11,107.724373014,9E9,9E9,9E9,9E9,9E9; CONST robtarget pick_L_2h:=-594.815880861,1300.383663051,207.280955466,0.505448832,-0.507268539,-0.494

10、060529,-0.493056083,-1,-2,0,11,107.724784596,9E9,9E9,9E9,9E9,9E9; CONST robtarget pick_L_2:=-594.594483025,1300.38308068,105.777439294,0.50544744,-0.507269012,-0.494060954,-0.493056598,-1,-2,0,11,107.724911143,9E9,9E9,9E9,9E9,9E9; CONST robtarget pick_L_3h:=-503.598281871,1392.112162236,207.18111345

11、9,0.505448081,-0.507268695,-0.494061033,-0.493056187,-1,-2,0,11,107.724915602,9E9,9E9,9E9,9E9,9E9; CONST robtarget pick_L_3:=-503.598480067,1392.563749952,105.777323632,0.505448129,-0.507269058,-0.494060627,-0.493056172,-1,-2,0,11,107.724866174,9E9,9E9,9E9,9E9,9E9; CONST robtarget pick_L_4h:=-595.02

12、7611551,1392.112963941,226.45405647,0.505448376,-0.507268479,-0.494060793,-0.493056348,-1,-2,0,11,107.72482448,9E9,9E9,9E9,9E9,9E9; CONST robtarget pick_L_4:=-594.704498836,1392.564639421,105.777487461,0.505448286,-0.507269026,-0.494060737,-0.493055933,-1,-2,0,11,107.724896059,9E9,9E9,9E9,9E9,9E9; C

13、ONST robtarget place_L_2:=-47.830689209,943.114595011,118.453898613,0.027203583,0.694879306,-0.031194065,0.717934291,-2,-1,0,11,107.724327246,9E9,9E9,9E9,9E9,9E9; CONST robtarget place_L_3:=-141.629695488,854.80336666,118.452852353,0.02720258,0.694880268,-0.031194438,0.717933382,-2,-1,0,11,107.72425

14、5632,9E9,9E9,9E9,9E9,9E9; CONST robtarget place_L_4:=-141.628760171,945.865466118,118.452996978,0.027202193,0.694880274,-0.031194914,0.717933369,-2,-1,0,11,107.724284535,9E9,9E9,9E9,9E9,9E9; CONST robtarget Target_10:=-53.060576741,897.84276421,363.154781971,0.478691036,-0.504431697,0.535955559,-0.4

15、7870157,-2,2,-2,11,107.724661515,9E9,9E9,9E9,9E9,9E9; CONST robtarget Target_80:=-52.11787028,930.079221314,365.631682863,0.478688749,-0.504431939,0.535956007,-0.478703101,-2,2,-2,11,107.724600621,9E9,9E9,9E9,9E9,9E9; CONST robtarget Target_100:=-52.117508312,963.557453268,365.63112507,0.225519018,-

16、0.653390292,0.682301217,-0.238091052,-2,1,-2,11,107.724604507,9E9,9E9,9E9,9E9,9E9; CONST robtarget Target_120:=-52.117822344,930.079536274,365.631276349,0.228934734,-0.652189395,0.681163284,-0.24135961,-2,1,-2,11,107.724647204,9E9,9E9,9E9,9E9,9E9; CONST robtarget Target_130:=-52.117822344,930.079536

17、274,365.631276349,0.228934734,-0.652189395,0.681163284,-0.24135961,-2,1,-2,11,107.724647204,9E9,9E9,9E9,9E9,9E9; CONST robtarget place_L_4_h:=-141.628801326,945.866342037,320.313889118,0.027201539,0.694881049,-0.03119508,0.717932636,-2,-2,1,11,107.724254311,9E9,9E9,9E9,9E9,9E9; CONST robtarget place

18、_L_3_h:=-141.629976843,854.803553704,292.430879541,0.02720282,0.694881249,-0.031194178,0.717932433,-2,-2,1,11,107.724241983,9E9,9E9,9E9,9E9,9E9; CONST robtarget place_L_2_h:=-47.830533929,943.114765601,261.765861235,0.02720388,0.694879494,-0.031194016,0.717934099,-2,-2,1,11,107.724311313,9E9,9E9,9E9

19、,9E9,9E9; CONST robtarget pi33:=-503.598924877,1392.564100969,106.146565476,0.505448829,-0.507268808,-0.494060464,-0.493055875,-1,-2,0,11,107.724791295,9E9,9E9,9E9,9E9,9E9; CONST robtarget pick_L_31:=-503.598924877,1392.564100969,106.146565476,0.505448829,-0.507268808,-0.494060464,-0.493055875,-1,-2

20、,0,11,107.724791295,9E9,9E9,9E9,9E9,9E9; CONST robtarget Target_140:=-52.116916142,1110.753837834,365.631010787,0.228934933,-0.652189499,0.681163382,-0.241358863,-2,1,-1,11,107.724669864,9E9,9E9,9E9,9E9,9E9; CONST robtarget Target_150:=-52.116916142,1110.753837834,365.631010787,0.228934933,-0.652189

21、499,0.681163382,-0.241358863,-2,1,-1,11,107.724669864,9E9,9E9,9E9,9E9,9E9; CONST robtarget Target_160:=-52.116790943,1110.753971591,365.630806538,0.228934997,-0.652189334,0.681163519,-0.241358863,-2,1,-1,11,107.724658581,9E9,9E9,9E9,9E9,9E9; PROC Path_10() MoveJ phome_l,v1000,z100,Tool_LWObj:=Work_L

22、; MoveJ pick_L_1h,v1000,fine,Tool_LWObj:=Work_L; MoveL pick_L_1,v1000,fine,Tool_LWObj:=Work_L; WaitTime 0.3; Set do2_L; MoveJ pick_L_1h,v1000,z100,Tool_LWObj:=Work_L; MoveJ Target_110,v1000,z100,Tool_LWObj:=Work_L; MoveJ place_LW_h,v1000,fine,Tool_LWObj:=Work_L; MoveJ place_LW,v1000,z100,Tool_LWObj:

23、=Work_L; WaitDO do_3,1; MoveL place_LW_h,v1000,fine,Tool_LWObj:=Work_L; MoveJ place_L_1_h,v1000,z100,Tool_LWObj:=Work_L; MoveL place_L_1,v1000,fine,Tool_LWObj:=Work_L; Reset do2_L; WaitTime 0.3; MoveL place_L_1_h,v1000,z100,Tool_LWObj:=Work_L; ENDPROC PROC Path_20() MoveJ pick_L_4h,v1000,fine,Tool_L

24、WObj:=Work_L; Set do4; Reset do4; MoveL pick_L_4,v1000,fine,Tool_LWObj:=Work_L; WaitTime 0.3; Set do2_L; MoveJ pick_L_4h,v1000,z100,Tool_LWObj:=Work_L; MoveJ Target_110,v1000,z100,Tool_LWObj:=Work_L; MoveJ place_LW_h,v1000,fine,Tool_LWObj:=Work_L; MoveJ place_LW,v1000,z100,Tool_LWObj:=Work_L; WaitDO

25、 do_3,1; MoveL place_LW_h,v1000,fine,Tool_LWObj:=Work_L; MoveJ place_L_4_h,v1000,z100,Tool_LWObj:=Work_L; MoveL place_L_4,v1000,fine,Tool_LWObj:=Work_L; Reset do2_L; WaitTime 0.3; MoveL place_L_4_h,v1000,z100,Tool_LWObj:=Work_L; MoveJ phome_l,v1000,z100,Tool_LWObj:=Work_L; MoveJ pick_L_1h,v1000,z100

26、,Tool_LWObj:=Work_L; MoveJ pick_L_1,v1000,z100,Tool_LWObj:=Work_L; MoveJ pick_L_2h,v1000,z100,Tool_LWObj:=Work_L; MoveJ pick_L_2,v1000,z100,Tool_LWObj:=Work_L; MoveJ pick_L_3h,v1000,z100,Tool_LWObj:=Work_L; MoveJ pick_L_3,v1000,z100,Tool_LWObj:=Work_L; MoveJ pick_L_4h,v1000,z100,Tool_LWObj:=Work_L;

27、MoveJ pick_L_4,v1000,z100,Tool_LWObj:=Work_L; MoveJ pick_L_31,v1000,z100,Tool_LWObj:=Work_L; MoveJ place_L_1,v1000,z100,Tool_LWObj:=Work_L; MoveJ place_L_1_h,v1000,z100,Tool_LWObj:=Work_L; MoveJ place_L_2,v1000,z100,Tool_LWObj:=Work_L; MoveJ place_L_2_h,v1000,z100,Tool_LWObj:=Work_L; MoveJ place_L_3

28、,v1000,z100,Tool_LWObj:=Work_L; MoveJ place_L_3_h,v1000,z100,Tool_LWObj:=Work_L; MoveJ place_L_4,v1000,z100,Tool_LWObj:=Work_L; MoveJ place_L_4_h,v1000,z100,Tool_LWObj:=Work_L; MoveJ place_LW,v1000,z100,Tool_LWObj:=Work_L; MoveJ place_LW_h,v1000,z100,Tool_LWObj:=Work_L; MoveJ Target_10,v1000,z100,To

29、ol_LWObj:=Work_L; MoveJ Target_80,v1000,z100,Tool_LWObj:=Work_L; MoveJ Target_100,v1000,z100,Tool_LWObj:=Work_L; MoveJ Target_110,v1000,z100,Tool_LWObj:=Work_L; MoveJ Target_120,v1000,z100,Tool_LWObj:=Work_L; MoveJ Target_130,v1000,z100,Tool_LWObj:=Work_L; MoveJ Target_140,v1000,z100,Tool_LWObj:=Wor

30、k_L; MoveJ Target_150,v1000,z100,Tool_LWObj:=Work_L; MoveJ Target_160,v1000,z100,Tool_LWObj:=Work_L; ENDPROC PROC Path_30() MoveJ phome_l,v1000,z100,Tool_LWObj:=Work_L; MoveJ pick_L_1h,v1000,fine,Tool_LWObj:=Work_L; MoveL pick_L_1,v1000,fine,Tool_LWObj:=Work_L; WaitTime 0.3; Set do2_L; MoveJ pick_L_

31、1h,v1000,z100,Tool_LWObj:=Work_L; MoveJ Target_110,v1000,z100,Tool_LWObj:=Work_L; MoveJ place_LW_h,v1000,fine,Tool_LWObj:=Work_L; MoveJ place_LW,v1000,z100,Tool_LWObj:=Work_L; WaitDO do_3,1; MoveL place_LW_h,v1000,fine,Tool_LWObj:=Work_L; MoveJ place_L_1_h,v1000,z100,Tool_LWObj:=Work_L; MoveL place_

32、L_1,v1000,fine,Tool_LWObj:=Work_L; Reset do2_L; WaitTime 0.3; MoveL place_L_1_h,v1000,z100,Tool_LWObj:=Work_L; MoveJ pick_L_2h,v1000,fine,Tool_LWObj:=Work_L; Set do4; Reset do4; MoveL pick_L_2,v1000,fine,Tool_LWObj:=Work_L; WaitTime 0.3; Set do2_L; MoveJ pick_L_2h,v1000,z100,Tool_LWObj:=Work_L; Move

33、J Target_110,v1000,z100,Tool_LWObj:=Work_L; MoveJ place_LW_h,v1000,fine,Tool_LWObj:=Work_L; MoveJ place_LW,v1000,z100,Tool_LWObj:=Work_L; WaitDO do_3,1; MoveL place_LW_h,v1000,fine,Tool_LWObj:=Work_L; MoveJ place_L_2_h,v1000,z100,Tool_LWObj:=Work_L; MoveL place_L_2,v1000,fine,Tool_LWObj:=Work_L; Res

34、et do2_L; WaitTime 0.3; MoveL place_L_2_h,v1000,z100,Tool_LWObj:=Work_L; MoveJ pick_L_3h,v1000,fine,Tool_LWObj:=Work_L; Set do4; Reset do4; MoveL pick_L_31,v1000,fine,Tool_LWObj:=Work_L; WaitTime 0.3; Set do2_L; MoveJ pick_L_3h,v1000,z100,Tool_LWObj:=Work_L; MoveJ Target_110,v1000,z100,Tool_LWObj:=W

35、ork_L; MoveJ place_LW_h,v1000,fine,Tool_LWObj:=Work_L; MoveJ place_LW,v1000,z100,Tool_LWObj:=Work_L; WaitDO do_3,1; MoveL place_LW_h,v1000,fine,Tool_LWObj:=Work_L; MoveJ place_L_3_h,v1000,z100,Tool_LWObj:=Work_L; MoveL place_L_3,v1000,fine,Tool_LWObj:=Work_L; Reset do2_L; WaitTime 0.3; MoveL place_L

36、_3_h,v1000,z100,Tool_LWObj:=Work_L; MoveJ pick_L_4h,v1000,fine,Tool_LWObj:=Work_L; Set do4; Reset do4; MoveL pick_L_4,v1000,fine,Tool_LWObj:=Work_L; WaitTime 0.3; Set do2_L; MoveJ pick_L_4h,v1000,z100,Tool_LWObj:=Work_L; MoveJ Target_110,v1000,z100,Tool_LWObj:=Work_L; MoveJ place_LW_h,v1000,fine,Too

37、l_LWObj:=Work_L; MoveJ place_LW,v1000,z100,Tool_LWObj:=Work_L; WaitDO do_3,1; MoveL place_LW_h,v1000,fine,Tool_LWObj:=Work_L; MoveJ place_L_4_h,v1000,z100,Tool_LWObj:=Work_L; MoveL place_L_4,v1000,fine,Tool_LWObj:=Work_L; Reset do2_L; WaitTime 0.3; MoveL place_L_4_h,v1000,z100,Tool_LWObj:=Work_L; Mo

38、veJ phome_l,v1000,z100,Tool_LWObj:=Work_L; ENDPROC ENDMODULET_ROB_R机器人程序模板MODULE Module1 CONST robtarget PHome_r:=-563.518897703,676.009029865,232.601047477,0.065993962,-0.842424287,-0.111188288,-0.523071012,0,0,0,11,-107.815864494,9E9,9E9,9E9,9E9,9E9; CONST robtarget pick_r_1h:=-473.710716978,307.7

39、14442203,138.779326669,0.490790173,0.50077267,-0.500980329,0.507316912,0,1,-1,11,-107.815969271,9E9,9E9,9E9,9E9,9E9; CONST robtarget pick_r_1:=-473.710940927,307.714814841,68.507853194,0.4907898,0.500772291,-0.500980991,0.507316994,0,1,-1,11,-107.815966055,9E9,9E9,9E9,9E9,9E9; CONST robtarget place_

40、r_1:=-56.511206109,841.362897913,359.63024732,0.418503963,-0.553150141,0.569608359,-0.440937265,0,1,-1,11,-95.596066709,9E9,9E9,9E9,9E9,9E9; CONST robtarget place_r_2:=-57.275847891,841.364336542,363.39594067,0.582161927,-0.377945073,0.400831485,-0.597979208,1,0,0,11,-95.596075675,9E9,9E9,9E9,9E9,9E

41、9; CONST robtarget place_r_3:=-57.279310883,789.807306599,363.395253944,0.418504664,-0.553150194,0.569607801,-0.440937255,1,1,-1,11,-95.596044613,9E9,9E9,9E9,9E9,9E9; CONST robtarget place_r_2_h:=-57.277208624,818.577309349,363.395934249,0.582162084,-0.377944974,0.400831426,-0.597979158,1,0,0,11,-95

42、.596061445,9E9,9E9,9E9,9E9,9E9; CONST robtarget place_r_1_h:=-56.513764245,796.333736442,363.129647729,0.418503524,-0.553150467,0.569608258,-0.440937403,1,1,-1,11,-95.596065392,9E9,9E9,9E9,9E9,9E9; CONST robtarget Target_60:=-57.288673608,642.02626729,363.395542551,0.418504238,-0.553149977,0.5696077

43、47,-0.440938,1,2,-2,11,-95.59606309,9E9,9E9,9E9,9E9,9E9; CONST robtarget pick_r_2h:=-539.094364382,307.718960612,111.774030961,0.490789887,0.500773175,-0.500980842,0.507316183,0,1,-1,11,-107.816003716,9E9,9E9,9E9,9E9,9E9; CONST robtarget pick_r_2:=-539.094081369,307.718981454,68.507636689,0.49078967

44、1,0.500772862,-0.50098091,0.507316634,0,1,-1,11,-107.815990596,9E9,9E9,9E9,9E9,9E9; CONST robtarget pick_r_3:=-624.228805047,306.966507857,68.508078362,0.490789952,0.50077272,-0.500980569,0.507316839,0,1,-1,11,-107.81597381,9E9,9E9,9E9,9E9,9E9; CONST robtarget pick_r_3h:=-624.228958313,306.966409975

45、,153.704938633,0.490790266,0.500772705,-0.500980285,0.507316831,0,1,-1,11,-107.815974729,9E9,9E9,9E9,9E9,9E9; CONST robtarget pick_r_4:=-694.162224252,305.726904223,68.50844887,0.490790124,0.500772897,-0.500979944,0.507317115,0,1,0,11,-107.815981312,9E9,9E9,9E9,9E9,9E9; CONST robtarget pick_r_4h:=-6

46、94.162167131,305.726462893,102.294054798,0.490790256,0.500772735,-0.500980088,0.507317006,0,1,-1,11,-107.815984106,9E9,9E9,9E9,9E9,9E9; CONST robtarget Target_10:=-473.710932173,307.715406567,68.507681783,0.506299155,0.484981049,-0.516283299,0.49183951,0,1,-1,11,-107.815961537,9E9,9E9,9E9,9E9,9E9; C

47、ONST robtarget Target_40:=-57.276245665,841.364547351,363.395242307,0.418504511,-0.553150135,0.569608021,-0.440937188,1,1,-1,11,-95.5960476,9E9,9E9,9E9,9E9,9E9; CONST robtarget Target_50:=-57.276245665,841.364547351,363.395242307,0.418504511,-0.553150135,0.569608021,-0.440937188,1,1,-1,11,-95.596047

48、6,9E9,9E9,9E9,9E9,9E9; CONST robtarget Target_70:=-55.513273099,803.454375194,362.130270762,0.418503901,-0.553150354,0.569608115,-0.440937372,1,1,-1,11,-95.596046115,9E9,9E9,9E9,9E9,9E9; CONST robtarget place_2:=-56.956904157,841.360724461,367.596760928,0.418502678,-0.553150455,0.569608597,-0.440937

49、784,1,1,-1,11,-95.59601037,9E9,9E9,9E9,9E9,9E9; PROC Path_10() MoveJ PHome_r,v1000,z100,Tool_RWObj:=Work_R; MoveJ pick_r_1h,v1000,z100,Tool_RWObj:=Work_R; MoveL pick_r_1,v1000,fine,Tool_RWObj:=Work_R; Set do1_R; WaitTime 0.3; MoveJ pick_r_1h,v1000,z100,Tool_RWObj:=Work_R; WaitTime 1; MoveJ place_r_1

50、_h,v1000,z100,Tool_RWObj:=Work_R; MoveL place_r_1,v1000,fine,Tool_RWObj:=Work_R; WaitTime 0.3; Reset do1_R; WaitTime 0.3; MoveJ place_r_1_h,v1000,z100,Tool_RWObj:=Work_R; MoveJ Target_60,v1000,z100,Tool_RWObj:=Work_R; Set do_3; Reset do_3; ENDPROC PROC Path_20() MoveJ pick_r_4h,v1000,z100,Tool_RWObj:=Work_R; WaitDO do4,1; MoveL pick_r_4,v1000,fine,Tool_RWObj:=Work_R; Set do1_R; WaitTime 0.3; MoveJ pick_r_4h,v1000,z100,Tool_RWObj:=Work_R; WaitTime 0.5; MoveJ place_r_1_h,v1000,z