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RoboDK
Factory/Cell Simulation
Factory/Cell Simulation
RoboDK - Simulate Robot Applications - (Automation)
RoboDK - Simulate Robot Applications - (Automation)
Learning Targets
Learning Targets
Students be able to understand individual components of a flexible manufacturing system.
Students be able to recognize the working relationship between the CNC mill and the robot.
Students will develop, analyze and select components for a CIM system for a specific industrial application.
What is RoboDK?
What is RoboDK?
RoboDK is a powerful simulator for industrial robots and robot programming.
RoboDK simulation software allows you to get the most out of your robot.
Simulate and Program your Robot in 5 easy steps
Simulate and Program your Robot in 5 easy steps
Select your robot
Define your tool
Load your 3D model
Simulate your toolpath
Generate robot programs
RoboDK for Web
RoboDK for Web
RoboDK Basics
RoboDK Basics
Steps in creating your program:
Load a Robot from the Online Library
Add Reference Frames
Load Objects
Add Tools
Add Targets
Create Programs offline and simulate them
Generate a program for the robot controller and select a post processor
Export a simulation to share them as in 3D HTML or 3D PDF
5 Points, Positions or Targets
5 Points, Positions or Targets
Robotic arms are excellent for performing pick and place operations such as placing small electronic components on circuit boards, as well as large boxes on pallets. A pick and place operation will require at least 5 points or targets. Targets are a robots recorded position. Targets, positions or points can be named any thing or even be recorded as numbers:
Home (1)
Above the pick point (Above Pick or Approach Pick) (2)
At the pick point (At Pick or Pick) (3)
Above the pick point (Above Pick or Retract Pick) Same Position as the Approach Pick
Above the place point (Above Place or Approach Place) (4)
At the place point (At Place or Place) (5)
Above the place point (Above Place or Retract Place) Same Position as the Approach Place
Home (1)
Key Terms
Reference Frames
Defines the location of an item with respect to another item with a given position and orientation.
Targets/Positions/Points
Are a robots recorded position. Targets can be named any thing or even be recorded as numbers.
Specific Targets
Home
The designated starting position of a robot
Approach or Above/Retract
"Approach or Above" function is a safe starting point before executing the primary action.
"Retract" function, which is the opposite of "Approach," allowing the robot to move away from the target point after completing the operation. This position guides it safely out of the workspace, avoiding fixtures, clamps, or other equipment.
Pick/Place or Drop
"Pick" an object, you are essentially instructing the robot to move its end effector close to the object and then virtually "grab" it, attaching it to the gripper for further manipulation.
"Place or Drop" is the command to create a complete pick and place operation, where the robot picks up an object from one spot and places it in another.
Program
Refers to a sequence of instructions that define the movements and actions a robot will perform. Essentially a set of commands that can be created and simulated within the software before being transferred to the actual robot controller to execute on the shop floor; it's essentially the "blueprint" for a robot's task, created through offline programming.
Terminology cont.Terminology cont.
End Effector
Refers to the tool or device attached to the end of a robotic arm, allowing it to interact with its environment and perform specific tasks, like gripping objects, welding, drilling, or applying paint
End of Arm Tooling (EOAT)
Basically, it's an "End Effector". (See above) A device attached to the end of a robotic arm, it is the “business end of the robot.”
TCP
Stands for "Tool Center Point," which refers to the exact point on a robot's end effector where the action is supposed to take place, like the tip of a gripper or the center of a welding torch, used to precisely control the robot's movements during manipulation tasks; essentially defining the reference point for the tool relative to the robot flange.
Robot
An industrial robot that can be programmed and simulated offline and/or online.
Joint Movement (MoveJ)
The robot moves each joint to reach a new point as quickly as possible, resulting in a non-linear, curved path.
Linear Movement (MoveL)
The robot moves the end effector (tool center point) in a straight line from the start point to the end point.
Circular Movement (MoveC)
The robot moves along a circular arc between two points. The path is defined by a start point, an intermediate point, and an end point.
Activity A: Recording Positions (Pick & Place)
Activity A: Recording Positions (Pick & Place)
Create a Pick & Place, going from side to side.
1 - RoboDK: Activity A: Recording Positions
(Pick & Place)
1 - RoboDK: Activity A: Recording Positions
(Pick & Place)
Recording Method - targets are found by physically moving the robot’s arm. In RoboDK holding the Alt & Shift keys, drag and drop the robotic arm by the Gripper's TCP (Tool Center Point) to its Target Position. Then Right Click on the Robot and choose "Teach Current Position" to record the target or Press Ctrl+T.
Download the Following Models:
Activity A Pick & Place.mp4Activity B Teaching Positions.mp4Create a screencast of your Robotic Arm Movement with the ScreenPal video capture tool 🔗↗️(follow the link for more information.). After you capture your simulation, save the video to your Robotics/RoboDK folder, then upload it to your Google Drive. Next share the video on your Google Drive with your instructor. Then insert the video into your project page of your portfolio website. Click here for more information on inserting your video into your portfolio/website.
Activity B: Teaching Positions (Pick & Place)
Activity B: Teaching Positions (Pick & Place)
1 - RoboDK: Activity B: Teaching Positions
(Pick & Place)
1 - RoboDK: Activity B: Teaching Positions
(Pick & Place)
Teaching Method - is where we type in coordinates without having to move the robot arm. In RoboDK we can enter Absolute or Relative coordinates into the Target Options Dialog Box (F3). We can also record targets by manually moving the arm. To do this we hold down the Alt key and drag the Robot Arm into position, unfortunately this is not always very accurate. To fix the accuracy we need to adjust the positions/targets, in robotics this it is also called Touching Up.
Parent/Child Relationship
In the image to the right the Parents are the Part Reference Frames and the Children are the Targets. The Children will always follow the parent, but the parents will NOT follow the Children. The Parents are Absolute Position and the children would be Relative Position
Create a screencast of your Robotic Arm Movement with the ScreenPal video capture tool 🔗↗️(follow the link for more information.). After you capture your simulation, save the video to your Robotics/RoboDK folder, then upload it to your Google Drive. Next share the video on your Google Drive with your instructor. Then insert the video into your project page of your portfolio website. Click here for more information on inserting your video into your portfolio/website.
Self Check, RoboDK Terms
Self Check, RoboDK Terms
What is a Reference?
A Reference Frame defines the location of an item with respect to another item with a given position and orientation. An item can be an object, a robot or another reference frame.
What are Targets?
Robot positions are recorded as Targets. A Cartesian target defines the position of the tool with respect to a coordinate system. A Joint target defines the position of the robot given robot joint values. Note: RoboDK creates Cartesian targets by default (red targets).
What are Programs in RoboDK?
Programs in RoboDK are used to simulate and program industrial robots for a variety of applications, including:
Welding, Machining, Dispensing, Inspection, Painting, Drilling, Pick and place, Packaging and labeling, Palletizing, and Robot calibration.
What does the term 'End of Arm Tooling' (EOAT) refer to?
A device attached to the end of a robotic arm
What is the role of an End Effector?
To interact with the environment and perform tasks
What does TCP stand for in robotics?
Tool Center Point
What is the main purpose of a robot's program?
To define the robot's movements and actions
Activity C: Stacking
Activity C: Stacking
Download the Following Models:
Dobot-Magician.robot*
Dobot-Gripper-v4.tool*
Dobot-4th-Axis-v3.sld*
Cube_v25.step*
Table_v2.sld*
*= Previously Download
Activity C.mp42 - RoboDK: Activity C: Stacking
2 - RoboDK: Activity C: Stacking
Figure the Roll of the Gripper, Entering in coordinates
Create a screencast of your Robotic Arm Movement with the ScreenPal video capture tool 🔗↗️(follow the link for more information.). After you capture your simulation, save the video to your Robotics/RoboDK folder, then upload it to your Google Drive. Next share the video on your Google Drive with your instructor. Then insert the video into your project page of your portfolio website. Click here for more information on inserting your video into your portfolio/website.
Activity D: Dipping
Activity D: Dipping
3 - RoboDK: Activity D: Dipping
3 - RoboDK: Activity D: Dipping
Using Relative Coordinates to Absolute Targets/Positions
Download the Following Models:
Dobot-Magician.robot *
Dobot-4th-Axis-v3.sld*
Table_v2.sld*
*= Previously Downloaded
Parent/Child Relationship
In the image to the right the Parents are the Part Reference Frames and the Children are the Targets. The Children will always follow the parent, but the parents will NOT follow the Children. The Parents are Absolute Position and the children would be Relative Position.
Activity D.mp4Create a screencast of your Robotic Arm Movement with the ScreenPal video capture tool 🔗↗️(follow the link for more information.). After you capture your simulation, save the video to your Robotics/RoboDK folder, then upload it to your Google Drive. Next share the video on your Google Drive with your instructor. Then insert the video into your project page of your portfolio website. Click here for more information on inserting your video into your portfolio/website.
Activity E: Going Circular (Initials)
Activity E: Going Circular (Initials)
4 - RoboDK: Activity E: Going Circular (Initials)
4 - RoboDK: Activity E: Going Circular (Initials)
Using Circular Movements
Download the Following Models:
Dobot-Magician.robot *
Table_v2.sld*
Download the Following Python Scripts:
Activity E-1.mp4Activity E2 - Create your own initials
Put your first Initial in the first square
We will make zero in the middle square
Place your Last initial in the last square
Label all the points in the grid
Enter your coordinates in a spread sheet
Don't forget to lift the pen for approaches and Lifts.
In RoboDK Create a new station
Use the uFactory Lite6 Robot
uFactory Pencil Tool
Table
Paper
(May need to adjust the distance of the paper)Trace On and Trace Off Python Scripts
Record your Station
Download the Following Models:
Table_v2.sld*
Paper.sld *
*= Previously Downloaded
Create a screencast of your Robotic Arm Movement with the ScreenPal video capture tool 🔗↗️(follow the link for more information.). After you capture your simulation, save the video to your Robotics/RoboDK folder, then upload it to your Google Drive. Next share the video on your Google Drive with your instructor. Then insert the video into your project page of your portfolio website. Click here for more information on inserting your video into your portfolio/website.
Activity F: Using Python Programing
Activity F: Using Python Programing
5 - RoboDK: Activity F: Using Python Programing
5 - RoboDK: Activity F: Using Python Programing
Using Python to setup a Welding Hexagonal Path
Download Activity F - Using Python Worksheet
Download Activity F - Using Python - The Setup
Download the Following Models
Download the following Python Scripts:
Activity F2.mp4
Activity F1.mp4Using Python to Setup a Conveyors
Download Activity F2 Conveyor In & Out
Download the Following Models:
uFactory-Lite6.robot*
Download the following Python Scripts:
*= Previously Downloaded
Create a screencast of your Robotic Arm Movement with the ScreenPal video capture tool 🔗↗️(follow the link for more information.). After you capture your simulation, save the video to your Robotics/RoboDK folder, then upload it to your Google Drive. Next share the video on your Google Drive with your instructor. Then insert the video into your project page of your portfolio website. Click here for more information on inserting your video into your portfolio/website.
Activity G: Palletization & Storage
Activity G: Palletization & Storage
6 - RoboDK: Activity G: Palletization & Storage
6 - RoboDK: Activity G: Palletization & Storage
Using a Feeder and Stacking
Download Activity G - Worksheet
Download Activity G - Palletization & Storage-pt1
Download Activity G - Palletization & Storage-pt2
Download Activity G - Palletization & Storage-pt3
Download Activity G - Palletization & Storage-pt4
Download Following Models
Dobot-Magician.robot *
Dobot-4th-Axis-v3.sld*
Dobot-Suction-Cup-v3.tool*
Table_v2.sld*
Cube_v25.sld (New Design)
Download the following Python Scripts:
NextPart_Out.py (Different then Pervious script)
(Check the Python script to make sure of the changed reference plane from 'Conveyor Out' to 'Feeder_Out')
*= Previously Downloaded
Acttivity Ga.mp4***Note: in the Program Pick_Cube. The pause may not be long enough. Increase the time of the pause if its picking up the cube to soon!***
Using Palletizing Plugin
You can accomplish automated palletizing using the palletizing plugin. The palletizing plugin will help you create a palletizing program quickly using a visual and intuitive interface.
Download Actvity G 2- Palletizing Plugin
Download the Following Models:
uFactory-Lite6.robot*
Table_v2.sld*
Activity Gb.mp4
Create a screencast of your Robotic Arm Movement with the ScreenPal video capture tool 🔗↗️(follow the link for more information.). After you capture your simulation, save the video to your Robotics/RoboDK folder, then upload it to your Google Drive. Next share the video on your Google Drive with your instructor. Then insert the video into your project page of your portfolio website. Click here for more information on inserting your video into your portfolio/website.
Activity H: Handshaking
Activity H: Handshaking
Download the following Python Scripts:
Clear_Feeder.py *
Clear_Pallet.py *
InitFeedPosition.py *
New_Cube_25x25.py *
NextPart_Out.py *
(Check the Python script to make sure of the changed reference plane from 'Conveyor Out' to 'Feeder_Out')New_Cube_25x25-Logo.py
(Edit the Python Script and change new_obj.setVisible(True) to new_obj.setVisible(0))
Activity H.mp47 - RoboDK: Activity H: Handshaking
7 - RoboDK: Activity H: Handshaking
Feeder, Slide Rail & CNC Mill with Pallet
Download Activity H - Handshaking Worksheet
Part 1 - Add and Place Objects & References & Scripts
Part 2 - Add and Place Targets
Part 3 - Create Simulation & Home Programs
Part 4 - Create Pick & Place and Main Programs
Download the Following Models:
Dobot-Magician.robot *
Dobot-4th-Axis-v3.sld*
Feeder-Out.robot*
*= Previously Downloaded
Create a screencast of your Robotic Arm Movement with the ScreenPal video capture tool 🔗↗️(follow the link for more information.). After you capture your simulation, save the video to your Robotics/RoboDK folder, then upload it to your Google Drive. Next share the video on your Google Drive with your instructor. Then insert the video into your project page of your portfolio website. Click here for more information on inserting your video into your portfolio/website.
Activity I: Conveyor With Sensor
Activity I: Conveyor With Sensor
8 - RoboDK: Activity I: Conveyor With Sensor
8 - RoboDK: Activity I: Conveyor With Sensor
Download Activity I -Conveyor with Sensors WS
Part 1 - Add and Place Objects & References
Part 2 - Add and Place Targets
Part 3 - Create Simulation & Home Programs
Part 4 - Create Pick & Place and Main Programs
Download the Following Models:
Dobot-Magician.robot *
Dobot-4th-Axis-v3.sld*
Dobot-Suction-Cup-v3.tool*
Dobot-Conveyor-v3.robot*
Activity I.mp4Create a screencast of your Robotic Arm Movement with the ScreenPal video capture tool 🔗↗️(follow the link for more information.). After you capture your simulation, save the video to your Robotics/RoboDK folder, then upload it to your Google Drive. Next share the video on your Google Drive with your instructor. Then insert the video into your project page of your portfolio website. Click here for more information on inserting your video into your portfolio/website.
Activity J :Robot to Robot Handshaking
Activity J :Robot to Robot Handshaking
Activity J.mp49 - RoboDK: Activity J :Robot to Robot Handshaking
9 - RoboDK: Activity J :Robot to Robot Handshaking
Download Activity J - Robot to Robot Handshaking WS
Part 1 - Add and Place Objects & References & Scripts
Part 2 - Add and Place Targets
Part 3 - Create Simulation & Home Programs
Part 4 - Create Pick & Place and Main Programs
Download the Following Models:
uFactory-Lite6.robot*
Download the following Python Scripts:
Clear_Pallet.py *
(you will need to edit the Python script and change the reference plane from 'CubePlane' to 'Pallet')New_Cube_25x25.py *
Dobot Teach & Playback
Dobot Teach & Playback
Activities 2, 3, 5 & 6
Activity 2 Pick & Place.mp4Activity 3 Dipping.mp4Activity 5 Palletizing & Roll Angle.mp4Activity 6 Dobot to Dobot Handshaking.mp4Activity 6 Dobot to Dobot.mp4Create a screencast of your Robotic Arm Movement with the ScreenPal video capture tool 🔗↗️(follow the link for more information.). After you capture your simulation, save the video to your Robotics/RoboDK folder, then upload it to your Google Drive. Next share the video on your Google Drive with your instructor. Then insert the video into your project page of your portfolio website. Click here for more information on inserting your video into your portfolio/website.
1st Semester Final
1st Semester Final
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