Feasibility study ure5 Collaborative robot at engine piston assembly station Abstract

Fig 3. RoboDK workplace simulation layout

1. 
   Virtual Robot
   

The UR5e robot arm has been imported from the RoboDK’s online library. To find our robot we have filtered the characteristics shown in Table 1.
Table 1. Filters used to find robot from library

Characteristics	URe5
Brand	Universal Robot
DoF	6
Payload	5 kg
Reach	500-1000 mm
Weight	10-20 kg

Whenever a robot is loaded in RoboDK, a reference frame representing the robot base is added to the tree station.

2. 
   Tools
   

The first tool in our station is the Gripper from RobotiQ -2F-85 Gripper. This tool performs the function of gripping, moves the Tool Center Point (TCP) into the desired position and for pick and place the engine piston. The other tools used in our station are table for locating URe5 robot and roller conveyer.
In this work, we used 3D designs of engine block and pistons created in SolidWorks in order to create a support object. To convert an object into a tool, it has been done by dragging and dropping this object (in STL format) into the robot item within the tree station.

3.