前言
第1 章　RobotStudio 簡介與安裝....................................................................................................................1
1.1　常用的工業(yè)機器人仿真軟件 ........................................................................................................................1
1.1.1　MotoSimEG-VRC ....................................................................................................................................1
1.1.2　RoboGuide ................................................................................................................................................1
1.1.3　KUKA Sim ...............................................................................................................................................3
1.1.4　DELMIA ...................................................................................................................................................3
1.2　RobotStudio 簡介 ...........................................................................................................................................4
1.2.1　什么是RobotStudio .................................................................................................................................4
1.2.2　常用術(shù)語和概念 ......................................................................................................................................5
1.2.3　安裝和激活 ..............................................................................................................................................6
1.3　界面介紹 ......................................................................................................................................................10
第2 章　構(gòu)建工業(yè)機器人工作站.....................................................................................................................13
2.1　工作站構(gòu)建的基本流程 ..............................................................................................................................13
2.1.1　導(dǎo)入和微動工業(yè)機器人 ........................................................................................................................13
2.1.2　導(dǎo)入工作站組件 ....................................................................................................................................16
2.1.3　使用系統(tǒng)創(chuàng)建工作站 ............................................................................................................................18
2.1.4　擺放對象及機械裝置 ............................................................................................................................20
2.1.5　虛擬示教器 ............................................................................................................................................25
2.2　創(chuàng)建帶導(dǎo)軌的工業(yè)機器人工作站 ..............................................................................................................27
2.3　創(chuàng)建帶變位機的工業(yè)機器人工作站 ..........................................................................................................31
2.4　工作站的共享 ..............................................................................................................................................37
第3 章　RobotStudio 的建模功能..................................................................................................................43
3.1　自帶建模功能簡介 ......................................................................................................................................43
3.1.1　功能圖標(biāo)簡介 ........................................................................................................................................43
3.1.2　兼容的3D 格式 .....................................................................................................................................49
3.2　構(gòu)建幾何體實例 ..........................................................................................................................................50
3.2.1　單個幾何體的創(chuàng)建 ................................................................................................................................50
3.2.2　構(gòu)建一個簡單的組合體 ........................................................................................................................53
3.3　CAD 文件的導(dǎo)入和導(dǎo)出 .............................................................................................................................56
3.3.1　導(dǎo)出RobotStudio 創(chuàng)建的幾何模型 ......................................................................................................56
3.3.2　導(dǎo)入幾何體 ............................................................................................................................................57
3.4　測量工具的使用 ..........................................................................................................................................59
3.4.1　測量矩形體的高度 ................................................................................................................................59
3.4.2　測量錐形的角度 ....................................................................................................................................60
3.4.3　測量圓柱體直徑 ....................................................................................................................................60
3.4.4　測量最短距離 ........................................................................................................................................61
3.5　創(chuàng)建機械裝置 ..............................................................................................................................................61
3.6　創(chuàng)建工業(yè)機器人用具 ..................................................................................................................................67
第4 章　工業(yè)機器人離線軌跡編程................................................................................................................76
4.1　創(chuàng)建工業(yè)機器人離線軌跡曲線及路徑 ......................................................................................................76
4.1.1　導(dǎo)入模型 ................................................................................................................................................76
4.1.2　創(chuàng)建工業(yè)機器人激光切割曲線 ............................................................................................................81
4.1.3　自動生成路徑 ........................................................................................................................................84
4.2　目標(biāo)點調(diào)整及軸配置參數(shù) ..........................................................................................................................85
4.2.1　目標(biāo)點調(diào)整 ............................................................................................................................................85
4.2.2　軸配置參數(shù) ............................................................................................................................................87
4.3　優(yōu)化工作站程序 ..........................................................................................................................................89
4.4　仿真視頻的錄制 ..........................................................................................................................................90
第5 章　事件管理器的應(yīng)用..............................................................................................................................93
5.1　事件管理器主要功能 ..................................................................................................................................93
5.1.1　任務(wù)窗格 ................................................................................................................................................94
5.1.2　事件網(wǎng)格 ................................................................................................................................................94
5.1.3　觸發(fā)編輯器 ............................................................................................................................................95
5.1.4　動作編輯器 ............................................................................................................................................96
5.2　利用事件管理器構(gòu)建簡單機械裝置的運動 ..............................................................................................98
5.2.1　創(chuàng)建一個上下滑動的機械運動特性 ....................................................................................................98
5.2.2　創(chuàng)建一個輸送鏈運行仿真效果 .......................................................................................................... 116
5.3　創(chuàng)建一個提取對象動作 ............................................................................................................................122
第6 章　Smart 組件的應(yīng)用..............................................................................................................................134
6.1　Smart 組件簡介 ..........................................................................................................................................134
6.2　Smart 組件創(chuàng)建動態(tài)輸送鏈 ......................................................................................................................135
6.2.1　設(shè)定輸送鏈的產(chǎn)品源（Source） .......................................................................................................135
6.2.2　設(shè)定輸送鏈的運動屬性 ......................................................................................................................136
6.2.3　設(shè)定輸送鏈的限位傳感器 ..................................................................................................................136
6.2.4　創(chuàng)建屬性與連結(jié) ..................................................................................................................................138
6.2.5　創(chuàng)建信號連接 ......................................................................................................................................139
6.2.6　仿真運行 ..............................................................................................................................................140
6.3　Smart 組件創(chuàng)建動態(tài)夾具 ..........................................................................................................................142
6.3.1　設(shè)定夾具屬性 ......................................................................................................................................142
6.3.2　設(shè)定檢測傳感器 ..................................................................................................................................143
6.3.3　設(shè)定拾取放置動作 ..............................................................................................................................144
6.3.4　創(chuàng)建屬性與連結(jié) ..................................................................................................................................145
6.3.5　創(chuàng)建信號與連接 ..................................................................................................................................146
6.3.6　Smart 組件的動態(tài)模擬運行 ................................................................................................................147
6.4　Smart 組件工作站邏輯設(shè)定 ......................................................................................................................148
6.4.1　查看工業(yè)機器人程序及I/O 信號 .......................................................................................................148
6.4.2　設(shè)定工作站邏輯 ..................................................................................................................................150
6.4.3　仿真運行 ..............................................................................................................................................151
6.5　Smart 組件的子組件 ..................................................................................................................................154
6.5.1 “信號與屬性”子組件 ........................................................................................................................155
6.5.2 “參數(shù)與建�！弊咏M件 ........................................................................................................................158
6.5.3 “傳感器”子組件 ................................................................................................................................161
6.5.4 “動作”子組件 ....................................................................................................................................163
6.5.5 “本體”子組件 ....................................................................................................................................165
6.5.6 “其他”子組件 ....................................................................................................................................168
第7 章　RAPID 基礎(chǔ)編程..................................................................................................................................172
7.1　簡介 ............................................................................................................................................................172
7.1.1　程序結(jié)構(gòu) ..............................................................................................................................................172
7.1.2　模塊 ......................................................................................................................................................173
7.1.3　程序操作 ..............................................................................................................................................173
7.2　基本程序數(shù)據(jù) ............................................................................................................................................182
7.2.1　程序數(shù)據(jù)的概念 ..................................................................................................................................182
7.2.2　程序數(shù)據(jù)的類型與分類 ......................................................................................................................183
7.2.3　建立程序數(shù)據(jù) ......................................................................................................................................185
7.3　表達式 ........................................................................................................................................................187
7.4　指令 ............................................................................................................................................................188
7.4.1　賦值指令 ..............................................................................................................................................188
7.4.2　運動指令 ..............................................................................................................................................189
7.4.3　I/O 控制指令 ........................................................................................................................................191
7.4.4　條件邏輯判斷指令 ..............................................................................................................................192
7.4.5　其他常用指令 ......................................................................................................................................194
7.4.6　中斷程序 ..............................................................................................................................................196
第8 章　在線操作...............................................................................................................................................198
8.1　PC 連接控制器 ..........................................................................................................................................198
8.1.1　連接端口 ..............................................................................................................................................198
8.1.2　PC 與控制器的連接 ............................................................................................................................199
8.2　網(wǎng)絡(luò)設(shè)置與用戶授權(quán) ................................................................................................................................202
8.2.1　網(wǎng)絡(luò)設(shè)置 ..............................................................................................................................................202
8.2.2　用戶授權(quán) ..............................................................................................................................................203
8.3　處理I/O ......................................................................................................................................................214
8.3.1　常用信號類型 ......................................................................................................................................214
8.3.2　I/O 信號實例操作 ................................................................................................................................215
第9 章　焊接工作站的案例應(yīng)用...................................................................................................................221
9.1　焊接工作站簡介 ........................................................................................................................................221
9.2　創(chuàng)建焊接工作站 ........................................................................................................................................221
第10 章　碼垛工作站的案例應(yīng)用...............................................................................................................237
10.1　工作任務(wù) ..................................................................................................................................................237
10.2　操作步驟 ..................................................................................................................................................237
參考文獻.......................................................................................................................................... 264