STEP-NC-based machining architecture applied to industrial robots

Abstract

This paper presents a method for applying the ISO 10303-238 (AP-238) standard in robotic machining operations by using two industrial robots. The method encompasses programming, simulation and machining by industrial robots. Application and validation of robotized machining is performed using two industrial robots, and the following tools are used: (a) a commercial CAD/CAM software with a plug-in to generate STEP-NC files (AP-238); (b) simulation with a STEP-NC-compliant software using two virtual robot models, as well as the generation of G-code files through postprocessors; and (c) two industrial robots (ASEA IRB6-S2 and LOLA 50) using the LinuxCNC controller adapted to STEP-NC. Initially, a 3D part is designed using any CAD system, and it is sent through the Internet to a CAM specialist who uses a commercial software to generate a process plan to manufacture the part. Operators of the robots download the part and its process plan information in the STEP-NC format, simulate its machining through the working steps and then perform machining using the robots.

STEP-NC Architectures for Industrial Robotic Machining: Review, Implementation and Validation

“…Six different STEP-NC architectures are analyzed, implemented and validated. Three of presented architectures are novel contributions, while the other three are extensions of previous works by the authors [14] [17], [18]. These architectures promote the dissemination and application of STEP-NC in robotic machining by using some commonly used commercial CAD/CAM software such as Mastercam, Siemens NX and PTC Creo.…”

“…Toquica et al [17] and Alvares et al [18] presented a high-level programming solution based on STEP-NC, using a CAD/CAM software for industrial robots machining. A complete platform has been developed to enable advanced and intelligent manufacturing with the possibility of integrating several modules for simulation, optimization, and visualization, as well as in-process manufacturing adaptation, cloud manufacturing, and machine learning with database analytics.…”

“…This section presents the validation and implementation results of the introduced architectures by means of case studies, including the simulation of robotic machining using Lin-uxCNC and ASEA robot as a real manufacturing scenario. The integration of LinuxCNC for robot control includes the Open Architecture Controllers (OAC) concept to the STEP-NC standard [17], [18], [32], contributing with Open STEP-NC solutions for industry and academics developments.…”

“…16 the NC programs are simulated in the LinuxCNC controller simulator, associated with the four parts. HAL layer is an important middleware application developed in Python into LinuxCNC controller, responsible for simulating and processing input/outputs signals (HAL pins) in the machining process [18], [20].…”

“…Rea Minango and Ferreira [14] combined STEP-NC and forward/inverse kinematics methods to generation tool paths for different types of robots. Zivanovic, Slavkovic, and Milutinovic [15], [16], Toquica et al [17], [18] implemented a STEP-NC-compliant module for robotic machining.…”