Pick and Place Robot in Siemens Tecnomatix Plant Simulation

Pick and Place Robot in Siemens Tecnomatix Plant Simulation

Project Files (GitHub) : nachikethboin/Pick-and-Place-Robot-in-Siemens-Tecnomatix-Plant-Simulation

 

 

1. Building a Simple Pick and Place Robot Model

• Insert Basic Elements:
• Place a Source and a Conveyor.
• Select both (plus connector), copy, and paste to duplicate (now you have two sources and conveyors).
• Add a Pick and Place Robot, a Station, another Conveyor, and a Drain.
• Connect the conveyors and station to the pick and place robot so the robot can transfer parts between them.
• Optimize Robot Workflow:
• Reduce the processing time of the station so the robot doesn’t have to wait and always has a free spot to place the part.
• Run the simulation to see the robot pick up parts from the conveyor and place them at the station.

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2. Understanding the Pick and Place Robot Dialog

• Angles and Times Table:
• Double-click on the robot to open its dialog.
• The Angles Table defines which objects the robot picks up from or delivers to. For 2D models, it also defines rotation angles.
• For 3D models, angles are determined automatically based on layout.
• The Times Table defines how long the robot takes to rotate from one object to another (with and without a loaded part). Below the diagonal = loaded, above = empty.
• You can individually fine-tune these times (e.g., longer time when robot rotates carrying a heavy load).
• Changes take effect immediately on simulation; check robot behaviour.

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3. Customizing Robot Paths for Collision-Free Movement

• Robot Arm Animation:
• Right-click the robot → Edit 3D Properties → Robot Arm Animation tab.
• Click “Add” to create a custom animation path between two objects (e.g., from conveyor to station).
• Select the source and destination; click “Show.”
• Cones appear, letting you define the robot’s path via waypoints:
• Use mouse or arrow keys to move the cone; Shift = jump 1m steps, Ctrl = move vertically.
• For multiple waypoints, click “Extend” and add more cones. Right-click to finish.
• Set exact coordinates for cones as needed.
• Robot will now follow defined path (e.g., for collision avoidance).

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4. Using the Robot without Connectors (Flexible Placement)

• Insert a Source, Conveyor, Pick and Place Robot (not connected), second Conveyor, and a Drain.
• Drag the robot to the picking place on the conveyor. A dialog pops up—select “Pick part.”
• Do the same for placement on the second conveyor—select “Place part.”
• Sensors (red lines) are created. You can move sensors using the mouse or arrow keys. Double-click sensors to set position and trigger (front/rear/booking point).
• Alternatively, edit conveyor’s Controls tab to adjust sensor settings.

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5. Exit Strategies

• Copy and paste station, conveyor, and drain for parallel paths.
• In the robot’s dialog, under the Exit tab, set target selection to “Exit Strategy” or “Target Control.”
• Try Exit Strategy > Percentage (e.g., 70% to one output, 30% to another).
• Run simulation to see the robot distribute parts accordingly.

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6. Robot Structure and Graphics

• Insert another robot, right-click, and choose Show Graphic Structure to view axes.
• The standard robot may have 4 axes; imported robots (e.g., Komao) can have 6.

• Change robot graphics via the Edit ribbon (Exchange Graphics). Select from the S3D graphics folder appropriate for your Plant Simulation version.