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V tej magistrski nalogi se ukvarjamo s praktično uporabo simulacijskega okolja Siemens Tecnomatix Process Simulate. Opisani so postopki preko katerih smo zgradili virtualni model dela proizvodne linije podjetja TPV, kjer poteka manipulacija in varjenje roke za podvozje avtomobila. Predstavljene so funkcije programa v praktični uporabi ter problemi in rešitve s katerimi smo se soočali. Končni produkt je funkcionalna simulacija, ki je dvojnik obstoječega fizičnega sistema. Zajema vlagalno mizo, manipulativnega robota, dva pozicionerja in dva varilna robota. Za vse robote so bili programi sprva spisani ročno. Nato smo testirali prenos programov iz realnega robota v simulacijo in obratno in opisali značilnosti, na katere moramo biti pozorni pri uvažanju in izvažanju programov. Za preizkus vodenja z realnim krmilnikom smo želeli povezati program Kuka Office Lite s programom Process Simulate, kar pa na koncu ni delovalo. Ustvarili smo šest programov za zasuk vsake izmed posameznih osi od ene do druge limite, z namenom ugotovitve pospeškov realnega robota. Nato smo ugotovljene pospeške preizkusili tudi na programih različnih gibov in primerjali čase realnega in simuliranega robota. This master thesis covers the practical application of the simulation software Siemens Tecnomatix Process Simulate. First, the procedures through which we built a virtual model of the production line of the company TPV are described, where the manipulation and welding of the arm for the car chassis takes place. The functions of the program in practical use are presented, as well as the problems and solutions we faced. The final product is a functional simulation, which is a digital twin of the existing physical system. It includes an insert table, a manipulation robot, two positioners and two welding robots. For all robots, the programs were initially written by hand. We then tested the transfer of programs from a real robot to a simulation and vice versa and described the steps that we need to pay attention to when importing and exporting programs. To test the control with a real controller, we wanted to connect the Kuka Office Lite program with the Process Simulate program, but in the end it didn't work. We created six programs to rotate each of the individual axes from one limit to another, in order to determine the accelerations of a real robot. We then tested the observed accelerations on programs for different movements and compared the times of the real and simulated robot. |
