Streamlining virtual manufacturing cell modelling by behaviour modules

摘要

A structured methodology and tools built around the concept of 'behaviours' are presented for constructing virtual reality (VR) models of flexibly automated manufacturing cells focusing on machine tools and robots. Four main areas are dealt with: geometric, kinematic, functional and interaction modelling. Basic (stereotypical) kinematic and functional behaviours are defined in a parametric and reusable form so that they can be allocated to classes as well as individual objects. Inverse kinematic behaviours are defined according to dedicated algorithms for particular kinematic chain configurations. Basic behaviours are synthesised into more complex ones that are less generic, by definition, and referring to larger hierarchical trees. A series of paradigms are presented regarding a CNC turn–milling centre served by an industrial robot. The extensible library of reusable behaviours and the proposed methodology for defining and integrating them in VR platforms provide structured tools for developing manufacturing system design and operation applications. [Received 31 October 2013; Revised 2 September 2014; Accepted 2 October 2014]