Virtual horizontal machining center LOLA HBG 80 for program verification and monitoring

Abstract

This paper describes configuring the virtual horizontal machining center LOLA HBG80 within the programming and verification system and the open architecture control system. The horizontal machining center LOLA HBG 80 is represented by an equivalent virtual machine in a CAD/CAM environment (PTC Creo and Catia), STEP-NC Machine environment, and the control system. Virtual simulation is essential for machining, and the developed virtual machines are used for program verification and monitoring of the machining process. The virtual machine in the programming system allows the verification of the program before sending it to the real machine and includes verification of the tool path (CLF-Cutter Location File) and G-code. The paper also discusses the possibility of applying a new programming method known as STEP-NC and preparing an adequate environment that includes a virtual machine. The virtual machine in the control system represents the last level for the final program verification and the process monitoring system.

Development of the programming and simulation system of 4-axis robot with hybrid kinematic

“…The equations ( 9), (14), and ( 15) represent the solution of the inverse kinematic problem of a considered 4axis robot with hybrid kinematics. These equations are required for the realization of the virtual model.…”

“…This rule is programmed according to segment length, speed, and time increment. After the linear interpolation of trajectory in Cartesian space, the function trajectory Joint involving the inverse kinematic solution, equations ( 9), (14), and (15), generates the joint space trajectory with an added vector of interpolated time as the first column. The result presents the time-series of joint coordinates necessary for the simulation of generated Simscape virtual robot.…”

“…Working in a virtual environment allows the verification of a program prepared for the real robot, i.e., it is possible to prevent errors that occur during the programming process, which would lead to a collision between the robot segments themselves or robot elements and the environment [14]. The virtual robot programmed in G-code can be implemented within the CAD/CAM system or open-architecture control system of the robot itself.…”