机器人编程与操作

项目一　认识工业机器人 .............................................................................1
任务1　了解机器人结构组成 .........................................................................................1
一、机器人概念 ........................................................................................................1
二、了解机器人组成结构 ........................................................................................3
三、ABB 机器人的组成及功能 ...............................................................................4
四、技能实训 ............................................................................................................6
任务2　启动和关闭机器人 .............................................................................................7
一、机器人的安全操作规程 ....................................................................................7
二、开启ABB 机器人 ..............................................................................................8
三、关闭ABB 机器人 ..............................................................................................9
四、技能实训 ............................................................................................................9
任务3　示教器点动机器人 ...........................................................................................10
一、什么是机器人示教器 ......................................................................................10
二、技能实训 ..........................................................................................................13
习题 ..................................................................................................................................14
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项目二　编程运行机器人 ...........................................................................15
任务1　配置标准I/O 板 ................................................................................................15
任务2　设定三个关键的程序数据 ...............................................................................22
任务3　认识机器人程序及指令 ...................................................................................32
一、机器人编程的概念 ..........................................................................................32
二、RAPID 程序 .....................................................................................................33
任务４　RAPID 程序编程与调试 .................................................................................41
一、基本RAPID 程序的编制 ................................................................................41
二、技能实训 ..........................................................................................................47
习题 ..................................................................................................................................50
项目三　RobotStudio6.0 基本操作 ............................................................52
任务1　安装RobotStudio6.0 软件 ................................................................................52
一、Robot Studio 概念 ............................................................................................52
二、技能实训 ..........................................................................................................56
任务2　认识RobotStudio6.0 软件 ................................................................................57
一、Robot Studio 软件界面介绍 ............................................................................57
二、技能实训 ..........................................................................................................59
任务3　构建机器人仿真工作站 ...................................................................................60
一、仿真工作站的构建 ..........................................................................................60
二、技能实训 ..........................................................................................................77
习题 ..................................................................................................................................80
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项目四　RobotStudio 虚拟仿真与编程 .......................................................82
任务1　激光切割轨迹编程与仿真 ...............................................................................82
一、构建激光切割工作站 ......................................................................................82
二、创建工件坐标 ..................................................................................................89
三、创建激光切割曲线 ..........................................................................................90
四、设置运动参数 ..................................................................................................92
五、生成激光切割轨迹 ..........................................................................................92
六、批量修改工具方向 ..........................................................................................94
七、轴配置与仿真运行 ..........................................................................................98
八、技能实训 ........................................................................................................103
任务2　简单输送链创建与仿真 .................................................................................104
一、创建输送链与仿真 ........................................................................................104
二、创建搬运与仿真 ............................................................................................128
三、技能实训 ........................................................................................................142
任务3　动态输送链创建与仿真 .................................................................................144
一、创建动态输送链工作站 ................................................................................144
二、创建输送链系统Smart 组件 .........................................................................150
三、添加属性与连接 ............................................................................................155
四、创建夹具系统Smart 组件 .............................................................................161
五、配置工作站逻辑 ............................................................................................169
六、机器人路径编程 ............................................................................................172
七、同步到RAPID ...............................................................................................175
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八、仿真设定与仿真 ............................................................................................176
九、技能实训 ........................................................................................................177
习题 ................................................................................................................................178
项目五　机器人典型工作站的应用 ...........................................................179
任务1　装配工作站 .....................................................................................................179
一、任务描述 ........................................................................................................179
二、任务实施 ........................................................................................................180
任务2　机床上下料 .....................................................................................................200
一、任务描述 ........................................................................................................200
二、任务