Leveraging model based definition and STEP AP242 in task specification for robotic assembly

摘要

This article explores using aspects of STEP AP242 for constraint-based robot programming for assembly operations. Industry 4.0 envisions smart, connected factories where all the operations are connected by an unbroken thread of product and process data. As part of these efforts, many industries are adopting Model Based Definition and STEP AP242. STEP AP242 is an exchange format that allows Model Based Definition where Product Manufacturing Information is directly associated with the 3D CAD model. This article relates the geometric and assembly constraints from the CAD model to motion constraints on the robot during the assembly process. This article also discusses the use of Product Manufacturing Information from STEP AP242 files for automatic robot programming. The results are showcased with a prototype for a motor assembly scenario.