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研究生:代亞拉
研究生(外文):JOSUE DAVID AYALA GUIDO
論文名稱:利用API在 Solidworks 環境中進行機械手臂運動模擬
論文名稱(外文):Robotic Motion Simulation in Solidworks Environment Using Application Programming Interface (API)
指導教授:孫書煌孫書煌引用關係
指導教授(外文):SUN, SHU-HUANG
口試委員:楊至誠江智偉
口試委員(外文):YANG,JHIH-CHENGCHIANG, CHIH-WEI
口試日期:2020-07-23
學位類別:碩士
校院名稱:崑山科技大學
系所名稱:機械工程研究所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2020
畢業學年度:108
語文別:英文
論文頁數:63
外文關鍵詞:Robotic arminverse kinematicsSolidworks API simulation
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An application programming interface (API) is a tool set, application or program that allow us to exchange, deliver information using multiple software. A Robotic Motion Simulation in Solidworks Environment Using Application Programming Interface (API) applying the inverse kinematics process has been studied in the following thesis. Inverse kinematics is the technique to obtain positions by angles and was applied as a procedure with Excel data to simulate trajectories using a six degrees of freedom robotic arm design. MATLAB, SOLIDWORKS API and Microsoft Excel were used to compute the simulation. MATLAB was responsible to generate the angles respect to time to manipulate each motor of the robotic arm design in SOLIDWORKS. The values were automatically exported into an Excel file after they were created. SOLIDWORKS and its Visual Basic for Applications (VBA) interface were combined for developing a program with the macros to control the robot arm simulation and run the Excel data at the same time.
Table of Contents
CHAPTER 1: INTRODUCCION 1
1.1 Robotics motion simulation in Solidworks Environment 1
1.2 Background description 1
1.2.1 Brief history of robotics 1
1.2.2 The APIs and its importance 4
1.3 Motivation 5
1.4 Scope and Outline 6
CHAPTER 2: THEORY, CONCEPTS & PROCEDURE 7
2.1 Definition of API 7
2.1.1 Main types of web APIs 8
2.1.2 Types of APIs by Category 8
2.1.3 Solidworks API 9
2.1.4 Advantages and disadvantages of using Solidworks API 10
2.2 Visual Basic 11
2.3 MATLAB 11
2.4 Robotic arm 12
2.5 Kinematics 15
2.5.1 Robot joints 15
2.6 Forward kinematics 18
2.6.1 Calculation of forward kinematics 18
2.6.2 Denavit-Hartenberg (D-H) parametric formula 24
2.6.3 Arbitrary rotation angles 29
2.7 Inverse kinematics 31
2.7.1 Inverse kinematics calculations 32
CHAPTER 3: EXPERIMENTS & RESULTS 46
3.1 Software 46
3.2 MATLAB program 46
3.2.1 inverse.m 46
3.2.2 linemove.m 47
3.2.3 rderr.m 48
3.3 Solidworks API 48
3.3.1 Robot arm assembly 49
3.3.2 Solidworks Visual Basic for Applications macro 51
3.4 Excel data and graphs 54
CHAPTER 4: CONCLUSION AND OUTLOOK 59
[1] Appin Knowledge Solutions, Robotics, Revision & Reprint Copyright 2007 by Infinity Science Press LLC.
[2] Dennis Ashby and Claus T. Jensen, APIs for dummies 3rd IBM Limited Edition Published by John Wiley & Sons, Inc., 2018.
[3] Brian Cooksey, edited by Bryan Landers and Danny Schreiber, An Introduction to APIs. Originally published April 23, 2014.
[4] Santoro, M., Vaccari, L., Mavridis, D., Smith, R. S., Posada, M., Gattwinkel, D., European Commision JRC Technical Report, “Web Application Programming Interfaces (APIs): general-purpose standards, terms and European Commission initiatives”, 2019.
[5] http://help.solidworks.com/2017/English/api/sldworksapiprogguide/Welcome.htm
[6] Hongmin Wu, Huajian Deng, Cao Yang, Yisheng Guan_, Hong Zhang and Hao Li, “A Robotic Off-line Programming System Based on SolidWorks”, Proceedings of the 2015
IEEE Conference on Robotics and Biomimetics Zhuhai, China, December 6-9, 2015.
[7] Mike Spens, Automating SolidWorks 2011 Using Macros, A Visual Studio Tools for Applications tutorial for SolidWorks users Using the Visual Basic.NET Language, 2010.
[8] Mike Spens, Automating SolidWorks 2013 Using Macros, A guide to creating VSTA macros using the Visual Basic.NET Language, 2013.
[9] Mike Spens, Automating SolidWorks 2017 Using Macros, A guide to creating VSTA
macros using the Visual Basic.NET Language, 2017.
[10] Liew Voon Kiong, Visual Basic 2017 Made Easy, 2017.
[11] https://www.mathworks.com/matlabcentral/answers
[12] Peter I. Corke, Robotics TOOLBOX for MATLAB, CSIRO Manufacturing Science and Technology 2001. http://www.cat.csiro.au/cmst/staff/pic/robot
[13] https://science.howstuffworks.com/robot2.htm
[14] https://www.robotics.org/About-RIA
[15] Queensland University of Technology https://robotacademy.net.au/lesson/what-is-kinematics/
[16] The Intelligent Motion Laboratory at University Illinois at Urbana-Champaign Grainger College of Engineering http://motion.cs.illinois.edu/RoboticSystems/Kinematics.html [17] Marko B. Popovic, Biomechatronics, 2019. https://www.scribd.com/book/405024487/Biomechatronics [18] Ben Zion Sandler, Robotics: Designing the Mechanisms for Automated Machinery, May 28, 1999. https://www.scribd.com/book/282668742/Robotics-Designing-the-Mechanisms-for-Automated-Machinery
[19] 孫書煌, “Forward Kinematics 正向運動學講義”, 崑山科技大學 機械系 August, 2018.
[20] Jaeyoung Lee, Basic Coordinates Rotation and Translation in basic of Robot Coordinates, Homogeneous Transform Euler Angles, Denavit-Hartenberg Notation, 2016. https://www.scribd.com/document/313339711/50176176-6-Robot-Kinematics-and-Dynamics-1-pdf
[21] The Robotics Institute “An Introduction to Robot Kinematics”, 2007. http://www.cs.cmu.edu/afs/cs.cmu.edu/academic/class/16311/www/current/lecture/Kinematics_final.pdf
[22] Mahidzal Dahari, Jian-Ding Tan, “Forward and Inverse Kinematics Model for Robotic Welding Process Using KR-16KS KUKA Robot”, Centre of Product Design and Manufacture (CPDM), Faculty of Engineering, University of Malaya, 50603 Kuala Lumpur, Malaysia. April 2011.
[23] 孫書煌, “Inverse Kinematics 逆向運動學講義”, 崑山科技大學 機械系 August, 2018.
[24] The MathWorks, Inc., MATLAB, Deep Learning Toolbox™ Release Notes, 2005–2019.
[25] https://www.cadsharp.com/ [26] John Walkenbach, Excel® VBA Programming for Dummies®, 3rd Edition, Published by John Wiley & Sons, Inc., 2013, from https://www.scribd.com/book/126714919/Excel-VBA-Programming-For-Dummies
[27] https://forum.solidworks.com/
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