Chahe Bakmazjian - MYS
Transcript of Chahe Bakmazjian - MYS
Robotic Programming for High-Mix Applications
Chahe BakmazjianFounder and Team LeaderHypertherm Robotic Software
TABLE OF CONTENTS
Drivers for high‐mix low‐batch productionRobot programming barriersTask based programmingSmart factories
INDUSTRY DRIVERS
INDUSTRY DRIVERS
Advances in manufacturing
Global Economy
Flexible Automation
Just-in-Time / Lean
Innovative new processes
▲ Performance, ▼Costs
ROI /Capital expendituresCopyright 2016, Hypertherm, Inc. All rights reserved.
INDUSTRY DRIVERS
New robotic markets emerging
• Milling and trimming• Cutting (laser, plasma,
waterjet)• Welding• Painting, spraying,
dispensing• Polishing, grinding,
sanding
Copyright 2016, Hypertherm, Inc. All rights reserved.
INDUSTRY DRIVERS
New robotic markets emerging
Roadmap to the Future by Paul Kellett , RIA Director - Market Analysis
“The model company is no longer a large entity such as GM, Chrysler, or Ford but small and medium sized enterprises…. The need in such an economy is far more dependent on higher degrees of adaptation, ease of use, and other factors that enable small runs of made-to-order products.”
INDUSTRY DRIVERS
Robots an ideal solution meeting requirements of many industriesEnd-User Segment Process Product
All segments Milling Rapid prototyping
Aerospace Grinding, polishing, drilling, cuttingTurbine blades, bulkheads, insulation, wing
segments
Automotive De-flashing, grinding, drilling, milling, cuttingEngines, truck frames, body panels, door knobs,
bumpers, stamping dies, sand coresFashion Milling, sanding Mannequin molds, mannequins
Foundries De-burring, milling, drilling, routing, finishing Molds, castingsMarine Milling Boat haulsMedical Grinding, polishing Prosthesis
Entertainment Ind. Milling Move set props, amusement park sceneryPlastics Milling, routing Molds, helmets
Woodworking Milling, routingHot-tub molds, furniture, trim, banisters, modeling
board
INDUSTRY DRIVERS
As an example let’s take the Aerospace market
INDUSTRY DRIVERS
Hardware capability is almost there
INDUSTRY DRIVERS
Programming robots is very different than a CNC machine tool
Program
Teach
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PROGRAMMING BARRIERS
PROGRAMMING BARRIERS
Task dimension and machine tool kinematics
2D
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PROGRAMMING BARRIERS
Task dimension and machine tool kinematics
3D
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PROGRAMMING BARRIERS
Task dimension and machine tool kinematics
5X
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PROGRAMMING BARRIERS
Tasks are commonly 2-5D
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PROGRAMMING BARRIERS
Robots are typically 6D+
6X 7X 9X
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PROGRAMMING BARRIERS
A typical 6 axis robot only has rotary axis
• Joint limits are hard to check intuitively
• Robot to part collision is impossible to determine without simulation
• Reach is difficult to check
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PROGRAMMING BARRIERS
It is desirable to program a robot in Cartesian coordinates• Robots are commanded in joint values by the robot controller
Copyright 2016, Hypertherm, Inc. All rights reserved.
PROGRAMMING BARRIERS
A 6 axis robot requires position and orientation for each point
(X,Y,Z),(I,J,K)
• Tasks are typically 2-5D• Managing 6D pose is required
Copyright 2016, Hypertherm, Inc. All rights reserved.
PROGRAMMING BARRIERS
Programs must be singularity free• A six axis robot has three singularity zones
Copyright 2016, Hypertherm, Inc. All rights reserved.
PROGRAMMING BARRIERS
A robot has 8 possible configurations for every point
Copyright 2016, Hypertherm, Inc. All rights reserved.
PROGRAMMING BARRIERS
A variety of manufacturing processes (additive/subtractive/forming)
Copyright 2016, Hypertherm, Inc. All rights reserved.
PROGRAMMING BARRIERS
A variety of manufacturing processes (additive/subtractive/forming)
Copyright 2016, Hypertherm, Inc. All rights reserved.
PROGRAMMING BARRIERS
End user requirements (especially for high-mix low batch)
Copyright 2016, Hypertherm, Inc. All rights reserved.
PROGRAMMING BARRIERS
Copyright 2016, Hypertherm, Inc. All rights reserved.
PROGRAMMING BARRIERS
Robot off-line simulation and programming software• More robot centered, less task focused
Copyright 2016, Hypertherm, Inc. All rights reserved.
PROGRAMMING BARRIERS
CAD/CAM Software• More path centered, less robot focused
Copyright 2016, Hypertherm, Inc. All rights reserved.
PROGRAMMING BARRIERS
Technology paradigm shift = Multi-disciplinary team
Software Engineering
Kinematics and Robotics (Hyper real-time calculations)Mathematical Optimization (AI, Deep/Machine Learning)Simulation and User Interaction (Collisions)CAD/CAM (Easy task based programming)
Copyright 2016, Hypertherm, Inc. All rights reserved.
2D Problem
Dimensions of a solution are very important
2D INPUTCOLD WATERHOT WATER
2D OUTPUTFLOW
TEMPERATURE
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2D Problem
Dimensions of a solution are very important
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2D Problem
Difficult user experience
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2D Opportunity
Task and Device independence
Copyright 2016, Hypertherm, Inc. All rights reserved.
TASK BASED PROGRAMMING
Integrated path programming tools (for high-mix low-batch)
Designed for task expert• No CAD/CAM expertise• No robotic expertise
Unique CAD/CAM features• Intuitive graphical interaction• Automated task programming
Unique robot specific features• Robot specific speed settings• Motion optimization• Easy transition tools
TASK BASED PROGRAMMING
Copyright 2016, Hypertherm, Inc. All rights reserved.
TASK BASED PROGRAMMING
EXPERTISE REQUIRED?
Task/Process
Programming and CAD/CAM
Robotics and Simulation
CASE: Trimming of knee braceBEFORE: ManualAFTER: Robotic
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TASK BASED PROGRAMMING
IDEAL SOLUTION?
CAD/CAM + Robotic path converter
Robotic off-line programming and simulation
Integrated CAD/CAM for robots
High-mix low-batch programming
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TASK SHARING
STRICTLY CONFIDENTIAL – FOR INTERNAL USE ONLYSOURCE: http://video.bonappetit.com/watch/jacques‐pepin‐peels‐an‐apple
TASK SHARING
Holder arm
Worker armCopyright 2016, Hypertherm, Inc. All rights reserved.
Cooperative task sharing
TASK SHARING
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Cooperative task sharing
TASK SHARING
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Optimized cooperative task sharing
TASK SHARING
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Cooperative task sharing
TASK SHARING
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Task success is easy with the proper programming tools
TASK SHARING
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INDUSTRY 4.0SMART FACTORIES
TD
PC
MI
TD
PC
MI
TD
PC
MI
INDUSTRY 4.0 CAPABLE
Task Distribution
Process Control
Monitoring & Interaction
Copyright 2016, Hypertherm, Inc. All rights reserved.
Networked Behavior
Distributed Learning
Virtual Emulation
Embedded Programming
Hypertherm Robotic Software5929 Trans-Canada HWY, Suite 330St-Laurent, QuebecCanada H4T 1Z6
Tel. +514. 225.2206Fax. +514.221.3661
www.robotmaster.com