Application of CAM software in robotic milling

Tema završnog rada se temelji na primjeni robotskih sustava kod obrade odvajanjem čestica. Specifično, o primjeni CAM tehnologija u robotskim sustavima. U okviru praktičnog sadržaja rada na industrijskom robotu oznake ABB IRB 6640 koji se nalazi u Laboratoriju za alatne strojeve Fakulteta strojarstva i brodogradnje u Zagrebu obrađen je model koji će biti prikazan kasnije u radu te će se simulacijama predočiti slijed operacija na komadu uz pomoć CAD/CAM softvera CATIA i programa RoboDK. U CATIA softverskom paketu je izrađen 3D model obratka koji će biti obrađen na robotu, potom je generiran APT kod koji RoboDK pomoću odgovarajućih post procesora prevodi u programski jezik RAPID, te je zatim simulirana sveukupna obrada sa svim pripadajućim komponentama. U uvodnom dijelu će biti objašnjena neka obilježja suvremene proizvodnje te trendovi koji su prisutni u području proizvodnje kao i primjena industrijskih robota. Zatim će biti opisani i povijesno kratko pregledani postojeći CAM (Computer Aided Manufacturing) sustavi koji imaju podršku za generiranje putanje alata na robotskim obradnim sustavima. Slijedi detaljan opis simulacije stvarnog komada dostupnim CAD/CAM sustavima koji mogu generirati putanje alata specifično na postojećem robotu koji se nalazi u prostorijama fakulteta. Rezultati primjera će biti opisani u posljednjoj točki rada kao i prednosti/nedostaci takvih robotskih primjena u obradi odvajanjem čestica.The subject of final work is based on the application of robotic systems in machining. Specifically, about the application of CAM (Computer Aided Manufacturing) technologies in robotic systems. Within the practical content of the work on the industrial robot marked ABB IRB 6640, located in the Laboratory for Machine Tools of the Faculty of Mechanical Engineering and Naval Architecture in Zagreb, a model was processed, which is presented later in the work, sequence of operations were simulated on a workpiece with the help of software packages CATIA and program RoboDK. In the CATIA software package, a 3D model was made that was processed on the robot. In addition, APT code was generated which RoboDK with post processors translates in programming language RAPID, whereupon entire process with all the associated components was simulated. The introductory part will show some characteristics of modern production and trends that are present in the field of production and also usage of industrial robots. Then, the existing CAM ("Computer Aided Manufacturing") systems that have support for generating tool paths on robotic machining systems will be described and historically briefly reviewed. The following is a detailed description of the simulation of the actual piece available to CAD/CAM systems that can generate tool paths specifically on the existing robot located on the faculty premises. The results of the examples and their interpretation will be described at the last point of work as well as the advantages/disadvantages of such robotic applications in particle separation processing