Robot Modeling, Motion Simulation and Off-Line Programming Based on SolidWorks API

Abstract

The paper contributes to the development of a general-purpose modeling, motion simulation and off-line programming system applicable to various manipulators and mechanisms. It is based on the popular CAD software SolidWorks, widely used in many industries, and its application programming interface (API). Implemented as a SolidWorks macro (written in VBA), the system allows the direct usage of the existing robot 3D models created for manufacturing purposes and eliminates the need for additional motion simulation software, thus providing an integrated solution for the simultaneous execution of design and simulation tasks. The lightweight integration into SolidWorks and the effective interface to controllers or standalone simulators that generate the motion of the manipulators distinguish the proposed development from the currently available CAD-based robot motion simulators.