序
前言
第 1 篇　智能工廠數(shù)字化建模
第 1 章　3DEXPERIENCE 平臺概述.........................................................................................................002
1.1　初識 3DEXPERIENCE ..............................................................................................................................002
1.1.1　智能制造產(chǎn)業(yè)需求 ..............................................................................................................................002
1.1.2 3DEXPERIENCE 產(chǎn)品特點(diǎn) ................................................................................................................003
1.1.3 3DEXPERIENCE 應(yīng)用簡介 ................................................................................................................005
1.2 3DEXPERIENCE 的安裝 ..........................................................................................................................008
1.2.1　安裝步驟 ..............................................................................................................................................008
1.2.2　運(yùn)行環(huán)境配置 ...................................................................................................................................... 011
1.3　進(jìn)入 3DEXPERIENCE ..............................................................................................................................014
1.3.1　運(yùn)行界面 ..............................................................................................................................................014
1.3.2　首選項(xiàng)設(shè)置 ..........................................................................................................................................016
1.3.3　文件管理 ..............................................................................................................................................017
第 2 章　草圖設(shè)計(jì)..............................................................................................................................................021
2.1　初識 Part Design App.................................................................................................................................021
2.2　創(chuàng)建草圖 ....................................................................................................................................................023
2.2.1　定位草圖 ..............................................................................................................................................023
2.2.2　創(chuàng)建幾何圖形 ......................................................................................................................................027
2.2.3　修飾幾何圖形 ......................................................................................................................................032
2.3　約束草圖 ....................................................................................................................................................039
2.3.1　幾何約束 ..............................................................................................................................................040
2.3.2　尺寸約束 ..............................................................................................................................................042
2.4　分析草圖 ....................................................................................................................................................043
2.5　草圖設(shè)計(jì)建議 ............................................................................................................................................045
第 3 章　單實(shí)體特征設(shè)計(jì)................................................................................................................................047
3.1　基礎(chǔ)特征 ....................................................................................................................................................047
3.1.1　增加材料的特征 ..................................................................................................................................048
3.1.2　減少材料的特征 ..................................................................................................................................052
3.2　修飾特征 ....................................................................................................................................................056
3.2.1　螺紋 ......................................................................................................................................................056
3.2.2　倒圓角 ..................................................................................................................................................059
3.2.3　倒角 ......................................................................................................................................................065
3.2.4　拔模與拔模分析 ..................................................................................................................................066
3.2.5　抽殼 ......................................................................................................................................................071
3.2.6　加強(qiáng)筋 ..................................................................................................................................................073
3.3　特征編輯 ....................................................................................................................................................073
3.3.1　陣列 ......................................................................................................................................................073
3.3.2　鏡像 ......................................................................................................................................................078
3.4.　高級特征 ...................................................................................................................................................078
3.5　基于曲面的實(shí)體設(shè)計(jì) ................................................................................................................................086
3.5.1　線框設(shè)計(jì) ..............................................................................................................................................087
3.5.2　曲面設(shè)計(jì) ..............................................................................................................................................094
3.5.3　曲面生成實(shí)體 ......................................................................................................................................100
3.6　特征設(shè)計(jì)的常見問題及解決方案 ............................................................................................................103
第 4 章　多實(shí)體設(shè)計(jì)—— 布爾運(yùn)算.............................................................................................................106
4.1　布爾加法（Add） .....................................................................................................................................106
4.2　布爾減法（Remove）............................................................................................................................... 111
4.3　布爾相交（Intersect）............................................................................................................................... 114
4.4　聯(lián)合修剪（Union Trim）..........................................................................................................................121
第 5 章　工程圖設(shè)計(jì).........................................................................................................................................123
5.1　工程圖創(chuàng)建概述 ........................................................................................................................................123
5.2　創(chuàng)建視圖 ....................................................................................................................................................124
5.2.1　基本視圖創(chuàng)建 ......................................................................................................................................124
5.2.2　詳細(xì)視圖創(chuàng)建 ......................................................................................................................................128
5.3　尺寸標(biāo)注和注釋 ........................................................................................................................................133
第 6 章　參數(shù)化設(shè)計(jì).........................................................................................................................................138
6.1　首選項(xiàng) ........................................................................................................................................................138
6.2　參數(shù) ...........................................................................................................................................................139
6.2.1　創(chuàng)建參數(shù) ..............................................................................................................................................139
6.2.2　設(shè)置公差 ..............................................................................................................................................139
6.2.3　更改步距 ..............................................................................................................................................140
6.2.4　測量間距 ..............................................................................................................................................141
6.2.5　添加多值 ..............................................................................................................................................141
6.2.6　設(shè)置范圍 ..............................................................................................................................................142
6.2.7 URL 和注釋 .........................................................................................................................................142
6.2.8　隱藏參數(shù) ..............................................................................................................................................143
6.2.9　顯示參數(shù) ..............................................................................................................................................143
6.2.10　修改參數(shù)值 ........................................................................................................................................144
目錄 VII
6.2.11　導(dǎo)入?yún)��?shù) ............................................................................................................................................145
6.3　公式 ....................................................................................................................145
6.3.1　基本公式 ..............................................................................................................................................145
6.3.2　抑制 / 激活公式...................................................................................................................................147
6.3.3　隱藏 / 顯示...........................................................................................................................................148
6.3.4　重新排序公式 ......................................................................................................................................148
6.3.5　發(fā)布參數(shù) ..............................................................................................................................................149
6.4　等效尺寸 ....................................................................................................................................................151
6.5　設(shè)計(jì)表 ........................................................................................................................................................152
6.5.1　從預(yù)先存在的文件創(chuàng)建設(shè)計(jì)表 ..........................................................................................................152
6.5.2　使用現(xiàn)有參數(shù)創(chuàng)建設(shè)計(jì)表 ..................................................................................................................153
6.6　規(guī)則 ...........................................................................................................................................................155
6.7　檢查 ...........................................................................................................................................................159
6.8　反應(yīng) ...........................................................................................................................................................159
6.9　案例 ...........................................................................................................................................................160
第 2 篇　數(shù)字化工廠仿真
第 7 章　智能工廠布局.....................................................................................................................................166
7.1　創(chuàng)建目錄 ....................................................................................................................................................166
7.2　新建制造單元 ............................................................................................................................................175
7.3　管理資源足跡 ............................................................................................................................................176
7.3.1　創(chuàng)建足跡 ..............................................................................................................................................176
7.3.2　導(dǎo)入 2D 布局 .......................................................................................................................................177
7.3.3　創(chuàng)建注釋 ..............................................................................................................................................177
7.4　從目錄插入資源 ........................................................................................................................................178
7.5 Snap 和 Align 資源 ....................................................................................................................................183
7.5.1 Snap 資源 .............................................................................................................................................184
7.5.2 Align 資源............................................................................................................................................186
7.6　創(chuàng)建陣列 ....................................................................................................................................................193
第 8 章　機(jī)械裝置定義.....................................................................................................................................195
8.1　設(shè)備資源概述 ............................................................................................................................................195
8.2　運(yùn)動副定義 ................................................................................................................................................195
8.2.1　運(yùn)動學(xué)定義 ..........................................................................................................................................195
8.2.2　工程連接定義 ......................................................................................................................................199
8.3　創(chuàng)建機(jī)械裝置 ............................................................................................................................................205
8.3.1　機(jī)械裝置展示 ......................................................................................................................................205
8.3.2　機(jī)械裝置管理器 ..................................................................................................................................207
8.4　案例 ...........................................................................................................................................................208
8.4.1　機(jī)械臂 ..................................................................................................................................................208
8.4.2　夾爪 ......................................................................................................................................................215
8.4.3　機(jī)床 ......................................................................................................................................................220
第 9 章　運(yùn)動機(jī)構(gòu)仿真.....................................................................................................................................222
9.1　創(chuàng)建替代行為 ............................................................................................................................................222
9.1.1　創(chuàng)建產(chǎn)品仿真 ......................................................................................................................................222
9.1.2　創(chuàng)建場景 ..............................................................................................................................................224
9.1.3　仿真播放和場景參數(shù) ..........................................................................................................................226
9.1.4　修改和繪制激發(fā) ..................................................................................................................................227
9.2　創(chuàng)建分析和修改行為 ................................................................................................................................229
9.2.1　測量探測 ..............................................................................................................................................229
9.2.2　干涉檢查 ..............................................................................................................................................230
9.2.3　截面檢查 ..............................................................................................................................................234
9.2.4　相機(jī)探測 ..............................................................................................................................................238
9.2.5　生成包絡(luò)體 ..........................................................................................................................................238
9.2.6　查看場景結(jié)果 ......................................................................................................................................239
第 10 章　資源定義 ...........................................................................................................................................241
10.1　創(chuàng)建資源 ..................................................................................................................................................241
10.2　運(yùn)動控制器和運(yùn)動組 ..............................................................................................................................242
10.2.1　運(yùn)動控制器 ........................................................................................................................................242
10.2.2　運(yùn)動組 ................................................................................................................................................243
10.3　創(chuàng)建端口 ..................................................................................................................................................244
10.3.1　端口介紹 ............................................................................................................................................244
10.3.2　端口創(chuàng)建 ............................................................................................................................................246
10.4　設(shè)置工具 ..................................................................................................................................................247
10.4.1　工具介紹 ............................................................................................................................................247
10.4.2　添加工具 ............................................................................................................................................249
10.5　逆向運(yùn)動 ..................................................................................................................................................250
10.6　檢查 ..........................................................................................................................................................251
10.7　主要參數(shù)設(shè)置 ..........................................................................................................................................253
10.7.1　主位置 ................................................................................................................................................253
10.7.2　傳送限制 ............................................................................................................................................255
10.7.3　速度和加速度限制 ............................................................................................................................256
10.8　輪廓配置 ..................................................................................................................................................256
10.8.1　新建工具輪廓 ....................................................................................................................................257
10.8.2　新建動作輪廓 ....................................................................................................................................259
10.8.3　新建精確度輪廓 ................................................................................................................................260
10.8.4　新建對象輪廓 ....................................................................................................................................262
10.9　安全區(qū)域設(shè)置 ..........................................................................................................................................263
10.9.1 TCP 安全區(qū)域....................................................................................................................................263
10.9.2　軸安全區(qū)域 ........................................................................................................................................264
10.9.3　工具體積 ............................................................................................................................................265
10.9.4　導(dǎo)入 / 導(dǎo)出區(qū)域.................................................................................................................................265
10.10　案例 ........................................................................................................................................................266
10.10.1　裝配 ..................................................................................................................................................266
10.10.2　定義資源 ..........................................................................................................................................267
10.10.3　創(chuàng)建運(yùn)動控制器 ..............................................................................................................................268
10.10.4　創(chuàng)建運(yùn)動組 ......................................................................................................................................269
10.10.5　創(chuàng)建端口 ..........................................................................................................................................270
10.10.6　設(shè)置工具 ..........................................................................................................................................273
10.10.7　創(chuàng)建逆向運(yùn)動 ..................................................................................................................................274
10.10.8　推動機(jī)械裝置 ..................................................................................................................................275
10.10.9　主要參數(shù)設(shè)置 ..................................................................................................................................276
10.10.10　新建輪廓配置 ................................................................................................................................277
第 11 章　工業(yè)機(jī)器人仿真流程....................................................................................................................279
11.1　工業(yè)機(jī)器人仿真概述 ..............................................................................................................................279
11.1.1　工業(yè)機(jī)器人仿真技術(shù)發(fā)展背景 ........................................................................................................279
11.1.2　初探 Robot Simulation 模塊 ..............................................................................................................280
11.2　工業(yè)機(jī)器人仿真基本流程 ......................................................................................................................284
11.2.1　創(chuàng)建制造單元 ....................................................................................................................................285
11.2.2　創(chuàng)建工業(yè)機(jī)器人資源和刀具端口 ....................................................................................................286
11.2.3　安裝工具 ............................................................................................................................................289
11.2.4　設(shè)置控制設(shè)備 ....................................................................................................................................290
11.2.5　設(shè)置活動仿真對象 ............................................................................................................................291
11.2.6　標(biāo)記點(diǎn)和標(biāo)記組 ................................................................................................................................292
11.2.7　創(chuàng)建工業(yè)機(jī)器人任務(wù) ........................................................................................................................306
11.2.8　使用示教 ............................................................................................................................................308
11.2.9　建立、分配 IO ..................................................................................................................................312
11.2.10　仿真任務(wù)總成 ..................................................................................................................................315
11.2.11　可達(dá)性檢測.......................................................................................................................................316
11.2.12　碰撞檢測 ..........................................................................................................................................317
11.2.13　仿真驗(yàn)證 ..........................................................................................................................................318
第 12 章　工業(yè)機(jī)器人仿真實(shí)例—— 滾筒上下料...................................................................................320
12.1　碼垛機(jī)器人工作站工業(yè)機(jī)器人建立 ......................................................................................................320
12.1.1　案例場景 ............................................................................................................................................320
12.1.2　創(chuàng)建資源文件 ....................................................................................................................................320
12.2　碼垛機(jī)器人資源定義 ..............................................................................................................................325
12.3　安裝刀具和設(shè)置輪廓 ..............................................................................................................................326
12.4　標(biāo)記與標(biāo)記組定義 ..................................................................................................................................330
12.4.1　管理標(biāo)記 ............................................................................................................................................330
12.4.2　操作標(biāo)記 ............................................................................................................................................331
12.4.3　將標(biāo)記組附加給工業(yè)機(jī)器人 ............................................................................................................332
12.4.4　復(fù)制并重命名標(biāo)記組 ........................................................................................................................333
12.5　示教傳送帶任務(wù) Coneyor_1 ....................................................................................................................334
12.6　示教工業(yè)機(jī)器人任務(wù) Grab Drum_1 .......................................................................................................337
12.7　示教傳送帶任務(wù) Coneyor_2 ....................................................................................................................349
12.8　創(chuàng)建工業(yè)機(jī)器人任務(wù) Grab Drum_2 .......................................................................................................352
12.9　工業(yè)機(jī)器人任務(wù)高級編程 ......................................................................................................................370
12.9.1　定義 IO ...............................................................................................................................................370
12.9.2　添加指派 ............................................................................................................................................371
12.9.3　添加等待 ............................................................................................................................................372
12.9.4　創(chuàng)建 IO 映射 ......................................................................................................................................374
12.9.5　創(chuàng)建碼垛工作站仿真總成任務(wù) ........................................................................................................375
12.10　仿真分析與輸出 ....................................................................................................................................376
12.10.1　可達(dá)性檢測 ......................................................................................................................................376
12.10.2　干涉檢查 ..........................................................................................................................................377
12.10.3　播放仿真 ..........................................................................................................................................379
12.10.4　甘特圖 ..............................................................................................................................................380
12.10.5　仿真結(jié)果輸出 ..................................................................................................................................382
第 13 章　上下料機(jī)器人離線編程 ...............................................................................................................383
13.1　標(biāo)記點(diǎn)的導(dǎo)出 ..........................................................................................................................................384
13.2　工業(yè)機(jī)器人程序的導(dǎo)出 ..........................................................................................................................386
13.3　工業(yè)機(jī)器人程序的導(dǎo)入 ..........................................................................................................................388
13.4　用工業(yè)機(jī)器人母語示教工業(yè)機(jī)器人 ......................................................................................................389
13.5　真實(shí)工業(yè)機(jī)器人仿真 ..............................................................................................................................391
13.6　校準(zhǔn) TCP..................................................................................................................................................394
13.6.1　工具中心點(diǎn)位置（TCP）標(biāo)定 .........................................................................................................395
13.6.2　工具坐標(biāo)系姿態(tài)（TCF）標(biāo)定 .........................................................................................................395
13.6.3 TCP 仿真軟件標(biāo)定 ............................................................................................................................396
13.6.4　六點(diǎn)法校準(zhǔn) ........................................................................................................................................398