Features of software implementation and three-dimensional modelling of the automated certification of industrial robot metrics in coppeliasim environment
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The paper is devoted to the problem of automated certification of industrial robot metrics (IRM) in the CoppeliaSim software environment. The authors in detail consider the capabilities and tools of the CoppeliaSim software environment for measuring and evaluating such spatial parameters of the IR as the working area and the configuration of the toolʼs geometric position. The study of mechanical, technical and technological systems and virtual environments has long been the subject of scientific activity. For example, the papers describe mathematical models of the behaviour of flexible mechanical transmissions, the research of which is carried out without taking into account automated implementation. There are also known studies by the method of computer modelling of technical systems for the power load of cutting tools using highly specialized software environments. Moreover, the features of the software implementation of the proposed models are usually not considered. The material proposed in this paper focuses on universal software products and programming languages for three- dimensional modelling. The results of the investigation of methods and approaches to the automated implementation of the metric, which make it possible to ensure reliability and accuracy in the further synthesis of elements of robotic technologies, such as optimisation of equipment placement, formation of the optimal trajectory of movement of links of the manipulation system of the IR with a tool or a gripper are presented in this paper. Rationale for the use of spatial 3D modelling with full-size virtual models of the IR in the CoppeliaSim environment are presented in the paper. The authors analyse the tools and instruments that allow taking into account the influence of primarily spatial factors on the metric of the IR, such as geometric parameters of the IR design, tools, gripper, possible limitations due to the design and technological features of the technological equipment. This paper can be useful for researchers, engineers and students studying IRs in terms of their automated modelling and analysis
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