Build & Simulate Robot Cables using DELMIA V5

Quite a long wait for the last post in this series of Robot Cables. In the previous blogs we have discussed on how to create the robot cables using DELMIA V5. TEO & SIA were able to identify the right cables for the workcell. The questions which remained open are... How would the cables behave when the robots are programmed and simulated in the workcell? Will the cables designed collide with the other resources and products in the system? In this post we will be discovering the simulation model for the robot cables with a collision free environment.. We will also discuss on how DELMIA V5 will help in adressing these questions....

 In Device Task Definition we have a toolbar by name Robot Cable Simulation. The toolbar has 3 commands or functions which allows the user to build and simulate the cable models.

Build Simulation Model:  The simulation model will be built for all the cables in the document on selecting this command or function. The cable can now be simulated as an flexible object in any process simulation or task simulation. A progress bar will appear indicating the simulation model is being built.

Synchronize Simulation Model: This command allows you to synchronize all cables that are capable to simulate in the document. After successful execution of this command you will be able to see changes made to the design model of the cables that are capable to simulate in the document reflected in the simulation model.

Penetration Avoidance Queue: The Penetration Avoidance Queue command allows you to build a Penetration Avoidance Queue for cables that will be simulated in the document. The penetration avoidance queue for a cable is the list of components with which the cable will try to avoid penetrating into, during simulation, by modifying its own shape based on a physically realistic algorithm that includes the effects of gravity, stiffness, and torsion. If a component that is not in the penetration avoidance queue comes in the path of cable it will be ignored and the cable will pass through it.

Depending on the licensing, you may not have access to the Robot Cable toolbar. If you set the environment variable DLM_CABLE_SOLVER_NAME to either DNBFlexilutionCableSolverImpl or CATFLXCableSolverImpl, the solver specified by the environment variable DLM_CABLE_SOLVER_NAME is be used. If the environment variable is not enabled, the system uses the Flex Dynamic Cable Simulation (FDS) solver, provided the FDS license is available. 

Using these tools and command, SIA was able to simulate and validate the robot cable system, she had built for the workcell. These tools helped them to identify the mistakes with the cable system and also bridged the GAP while moving into actual production.

Related Posts on this topic are available in the below links

Cable Management: https://swym.3ds.com/#post:3949

Building Robot Cables: https://swym.3ds.com/#post:5087