The definition of the reconfigurable workcell reference
structure was performed by 3D CAD Solidworks®. Thanks
to such approach, it was also possible to easily define
different workcells as configuration variants. Each
configuration could be automatically selected according to
the workcell designer needs.
The definition of the end user working procedure for the
introduction of new batches was a complex task. In order
to directly program the robot and analyze its behaviour,
the proprietary OLP software FANUC Roboguide® with
base package Handling Tool was adopted.
Within the Roboguide® environment it was possible to
evaluate several specific solution for robotic machining,
such as properly sized fingers of the gripper and jigs, with
respect to the position and geometry of features to be
machined, and also to evaluate the system layout to avoid
collisions and robot singularities during the process. OLP
Roboguide® software and Solidworks® were finally
associated to automatically exchange CAD data (Fig. 6).