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工業(yè)機(jī)器人工作站虛擬仿真教程 
定 價(jià)：59 元 叢書名：普通高等教育新工科機(jī)器人工程系列教材
9 7 6 8 5 7 6 1 5 1 0 1 0 讀者對(duì)象:本科院校及高職院校機(jī)器人工程相關(guān)專業(yè)學(xué)生，工業(yè)機(jī)器人技術(shù)人員 
本書以ABB 工業(yè)機(jī)器人為對(duì)象，使用其仿真軟件RobotStudio 進(jìn)
行基本操作與工作站虛擬仿真，采用“知識(shí)點(diǎn)”與“工程實(shí)例”相結(jié) 合的講解方法，通過八個(gè)基礎(chǔ)章節(jié)的知識(shí)點(diǎn)教學(xué)與兩個(gè)工程案例對(duì)工 業(yè)機(jī)器人虛擬仿真工作站進(jìn)行剖析，即RobotStudio 簡(jiǎn)介與安裝、構(gòu) 建工業(yè)機(jī)器人工作站、RobotStudio 的建模功能、工業(yè)機(jī)器人離線軌 跡編程、事件管理器的應(yīng)用、Smart 組件的應(yīng)用、RAPID 基礎(chǔ)編程、 在線操作，以及焊接工作站的案例應(yīng)用和碼垛工作站的案例應(yīng)用。書 中各個(gè)知識(shí)點(diǎn)的編排符合RobotStudio 軟件的學(xué)習(xí)順序，由淺入深； 兩個(gè)工程實(shí)例符合工業(yè)機(jī)器人行業(yè)應(yīng)用特色，對(duì)前面知識(shí)點(diǎn)加以綜合 運(yùn)用。本書提供相關(guān)案例源文件和PPT 課件。案例源文件請(qǐng)掃描前言 中的二維碼獲取，PPT 課件請(qǐng)聯(lián)系QQ296447532 獲取。
前言
第1 章 RobotStudio 簡(jiǎn)介與安裝....................................................................................................................1 1.1 常用的工業(yè)機(jī)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(jiǎn)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(jī)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(dòng)工業(yè)機(jī)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(duì)象及機(jī)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(jī)器人工作站 ..............................................................................................................27 2.3 創(chuàng)建帶變位機(jī)的工業(yè)機(jī)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(jiǎn)介 ......................................................................................................................................43 3.1.1 功能圖標(biāo)簡(jiǎn)介 ........................................................................................................................................43 3.1.2 兼容的3D 格式 .....................................................................................................................................49 3.2 構(gòu)建幾何體實(shí)例 ..........................................................................................................................................50 3.2.1 單個(gè)幾何體的創(chuàng)建 ................................................................................................................................50 3.2.2 構(gòu)建一個(gè)簡(jiǎn)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(cè)量工具的使用 ..........................................................................................................................................59 3.4.1 測(cè)量矩形體的高度 ................................................................................................................................59 3.4.2 測(cè)量錐形的角度 ....................................................................................................................................60 3.4.3 測(cè)量圓柱體直徑 ....................................................................................................................................60 3.4.4 測(cè)量最短距離 ........................................................................................................................................61 3.5 創(chuàng)建機(jī)械裝置 ..............................................................................................................................................61 3.6 創(chuàng)建工業(yè)機(jī)器人用具 ..................................................................................................................................67 第4 章 工業(yè)機(jī)器人離線軌跡編程................................................................................................................76 4.1 創(chuàng)建工業(yè)機(jī)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(jī)器人激光切割曲線 ............................................................................................................81 4.1.3 自動(dòng)生成路徑 ........................................................................................................................................84 4.2 目標(biāo)點(diǎn)調(diào)整及軸配置參數(shù) ..........................................................................................................................85 4.2.1 目標(biāo)點(diǎn)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(dòng)作編輯器 ............................................................................................................................................96 5.2 利用事件管理器構(gòu)建簡(jiǎn)單機(jī)械裝置的運(yùn)動(dòng) ..............................................................................................98 5.2.1 創(chuàng)建一個(gè)上下滑動(dòng)的機(jī)械運(yùn)動(dòng)特性 ....................................................................................................98 5.2.2 創(chuàng)建一個(gè)輸送鏈運(yùn)行仿真效果 .......................................................................................................... 116 5.3 創(chuàng)建一個(gè)提取對(duì)象動(dòng)作 ............................................................................................................................122 第6 章 Smart 組件的應(yīng)用..............................................................................................................................134 6.1 Smart 組件簡(jiǎn)介 ..........................................................................................................................................134 6.2 Smart 組件創(chuàng)建動(dòng)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(yùn)動(dòng)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(hào)連接 ......................................................................................................................................139 6.2.6 仿真運(yùn)行 ..............................................................................................................................................140 6.3 Smart 組件創(chuàng)建動(dòng)態(tài)夾具 ..........................................................................................................................142 6.3.1 設(shè)定夾具屬性 ......................................................................................................................................142 6.3.2 設(shè)定檢測(cè)傳感器 ..................................................................................................................................143 6.3.3 設(shè)定拾取放置動(dòng)作 ..............................................................................................................................144 6.3.4 創(chuàng)建屬性與連結(jié) ..................................................................................................................................145 6.3.5 創(chuàng)建信號(hào)與連接 ..................................................................................................................................146 6.3.6 Smart 組件的動(dòng)態(tài)模擬運(yùn)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(jī)器人程序及I/O 信號(hào) .......................................................................................................148 6.4.2 設(shè)定工作站邏輯 ..................................................................................................................................150 6.4.3 仿真運(yùn)行 ..............................................................................................................................................151 6.5 Smart 組件的子組件 ..................................................................................................................................154 6.5.1 “信號(hào)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(dòng)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(jiǎn)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(dá)式 ........................................................................................................................................................187 7.4 指令 ............................................................................................................................................................188 7.4.1 賦值指令 ..............................................................................................................................................188 7.4.2 運(yùn)動(dòng)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(hào)類型 ......................................................................................................................................214 8.3.2 I/O 信號(hào)實(shí)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(jiǎn)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(xiàn).......................................................................................................................................... 264
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