Robotic high quality machining deals with several
design factors. Workcell reconfigurability is one of the
most important goals to achieve during integrated design
because of its deep impact on Industry, characterized by
a high frequency of changeability on product batches and
by the need of saving time and costs without lowering the
final quality [13], [14].
Hardware, control and software resources are then
concurrently developed to offer high mechatronic
performances, tailored for each workpiece or product
family [15].
The workcell functional structure and layout design are
evaluated starting from the machining cycle, grouping
main and auxiliary equipment according to the related
process. So workcell configuration results deeply
process-dependent, as proposed in Fig. 2.
Integrated design of robotic workcells involves the
close integration of different CAE techniques and tools.
Offline programming software and CAD need to be
effectively integrated in order to obtain a good trade-off
between the graphical completeness of simulations and
the time needed to generate virtual tests.
Two main approaches can be followed. The first one is
based on the use of general purpose software platforms,
customized by specific plug-ins oriented to the execution
of machining applications. Commercial exemplas are
DELMIA Robotics or UGS Tecnomatix. Such tools entail
deep knowledge and skilled users because of their
complex and articulated structure, so the training is heavy
and time consuming. The possible lack of integration
between virtual controllers, based on RSS algorithms,
and real robot controllers could affect the robotic
machining accuracy.
The second approach deals with the use of proprietary
offline programming software, developed by robot
manufactures to generate a virtual copy of the robot
controller so that full compatibility is guaranteed. Such tools are generally easier to use than software platforms
and offer a superior integration with the robotic process.
On the other hand, users need a good experience in robot
programming to really exploit their potentialities.