I have a palletization program I want to try on a robot arm, and I need help modelling it in RoboDK. We have a vacuum palletizing robot that picks up buckets from a conveyer and moves them over to stack them on a pallet (also on conveyer, but not important). I have added some sensor technology, which requires some extra steps to be added to our current stacking program. I want to show my boss proof of concept that my modified program will work properly (speeds ok, destinations correct, no collisions, etc.). We don't need an exact replica of the workspace, just close enough to show enough detail about how it would look like stacking the 4 levels of 12 buckets per level. Keep it simple. No need to model movement on any conveyers, unless you want to for the buckets. Obviously a pausable video showing step by step how it works, would be awesome. At minimum a full video of palletizing a full pallet. I have locations/destinations of each step, path type, movement speed, hard/soft step ends, etc.
Modelling details: Keep as simple as possible. I don't need perfect modelling or detailed renderings or whatever, unless you want to. I am on limited budget of my own money so I can't afford cost overruns. I usually add additional milestones if your work is much better than I expected.
We have a vacuum head of known dimensions that picks up 4 buckets at a time. I have added 4 extra sensor arms with known dimensions I am adding on the left side of the head. If you can't find a model of the vacuum head, just building a rectangular box is fine. Either way we can then modify with the addition of four 'rectangular boxes' to represent the area that my sensors occupy off the side of the vacuum head (see pictures in powerpoint).
Buckets (known dimensions) can be simple green cylinders floating or sitting on conveyer, up to you.
Pallet can be yellow rectangle (known dimensions) at known location, or whatever.
It is not the model we use, but I guess the Fanuc ArcMate 120iB/ 10L in the program kind of looks like ours. We actually have a M-410iC/110 I think. Not sure why you might need them, but the specs are here:
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Vacuum head underneath always stays parallel to the ground. It can rotate around, but only parallel to the ground (see pic).
About milestones. If I award you the project, I do not accept your bid. What I do is make three or four milestones that add up to the bid we agree on through conversation. The total amount is the same, just split up so I can release the milestones as you accomplish the goals.
Here is rough idea of milestones, to be fleshed out later:
1-model the robot and environment, no program needed yet
2-model the movements of the robot program
3-refine the movements to accomodate problems or issues I missed when I was trying to visualize what I want to do
4-video creation or presentation help
Powerpoint (Robot Vacuum Head) -View as a slideshow please!!! The animations are necessary to understand a bit about how the sensors will be used in a few steps.
Powerpoint (Robot Program) More detailed description of steps in current program, and in the modified program I want to add. I included this to just help visualize the big picture.
Pictures- of the robot at rest, pickup up, and palletizing, etc
Excel File (Fanuc Program Steps) (Will add when I am finished soon, about 35 general steps) -This is where you will find location data, robot speed, etc.
If you ask obvious questions that are already answered in my files several times, I will know you didn't read them carefully. Everything should be there to get this project accomplished. If your inability to do this becomes clear, I will not finish the project with you, because it is wasting our time. Dont Bid if you cant do this project!