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Simulering av bultsvetsrobotar med IPS 2.0: För att utreda optimerings och balanseringsmöjlighet
University West, Department of Engineering Science.
University West, Department of Engineering Science.
2010 (Swedish)Independent thesis Basic level (professional degree), 10 credits / 15 HE creditsStudent thesisAlternative title
Simulation of stud weld robots in IPS 2.0 : To investigate optimization and load balance opportunities (English)
Abstract [sv]

Denna studie är genomförd på en bultsvetsstation med fyra bultsvetsrobotar från ABB som används i den dagliga produktionen i karossfabriken på Saab Automobile i Trollhättan. I dagsläget används off-lineprogrammerade robotprogram från IGRIP i flera robotceller på karossfabriken. IGRIP har under flera år används utan att man har någon metod för att utvärdera för hur kapaciteten i robotcellerna utnyttjas. Begränsningarna hos IGRIP är att det inte automatiskt kan beräkna och generera kollisionsfria banor vilket är mycket tidskrävande. Programmeringen av via-punkterna sker via manuell inmatning i programmet vilket medför att de inte utnyttjar maximal kapacitet i robotcellen. Dessa problem har lett till att Saab ville undersöka potentialen för att frigöra kapacitet i en robotcell med hjälp av en programvara under utveckling, IPS 2.0. Den nyare programvaran utvecklas av FCC och besitter optimerings- och balanseringsfunktioner samt genererar kollisions fria rörelsebanor för robotarna i robotcellen. En optimerad bana och en referensbana har skapats för att kunna utvärdera en procentuell förändring av tiden. Det visade sig att det finns stor potential att frigöra kapacitet i den undersökta cellen med hjälp av IPS 2.0.

Abstract [en]

This study has been performed on a stud weld station consisting of four stud weld robots from ABB which are used in the daily production at the body plant of Saab Automobile in Trollhättan. Currently, off-line programmed robot programs from IGRIP are used in several robot cells in the body plant. IGRIP has been used for several years without having any evaluation method for how the capacity has been used in the robot cells. The limitations of IGRIP are that it cannot automatically generate collision free paths, which is very time consuming. The input of the via-points is done manually by the programmer which results in less than maximum capacity in the robot cell. These problems have triggered Saab to investigate the potential for making capacity available by using a software under development, IPS 2.0. The software is developed by FCC and has optimization and balancing functions. It can also generate collision free paths for the robots in a robot cell. One optimized path and one reference path have been created in order to evaluate the time reduction in percent. It was shown that there was potential to free up capacity in the robot cell by using IPS 2.0.Date:

Place, publisher, year, edition, pages
2010. , 19 p.
Keyword [sv]
IPS 2.0, Optimering, Manual, Off-lineprogrammering, Kvaternioner
National Category
Production Engineering, Human Work Science and Ergonomics
Identifiers
URN: urn:nbn:se:hv:diva-2594OAI: oai:DiVA.org:hv-2594DiVA: diva2:328688
Presentation
(Swedish)
Uppsok
Technology
Supervisors
Examiners
Available from: 2010-08-09 Created: 2010-07-05 Last updated: 2010-08-09Bibliographically approved

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CiteExportLink to record
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