Abstract: This paper introduces the performance of DELMIA software and its IGRIP module. For the first time, DELMIA/IGRIP software was used to implement robot motion simulation. Simulation results show that using DELMIA/IGRIP for robot simulation is convenient and accurate, providing a reliable basis for robot analysis and design. Keywords: DELMIA/IGRIP; robot simulation; trajectory planning 0 Introduction Robot simulation technology is a product of the combination of computer technology, robotics, and computer graphics. By simulating the robot's motion using its physical graphics, the entire process of the robot's working motion can be vividly reflected. It allows for the optimized design of robot mechanisms and controllers, and the planning of optimal motion trajectories. Dynamic graphic simulation of robots has important guiding significance for the design, manufacturing, testing, and application of robots. Robot simulation systems, as safe, reliable, flexible, and convenient tools in robot design and research, play an increasingly important role. Currently, although there is some preliminary research on offline simulation in China, practical applications are rare. It is foreseeable that with the large-scale application of robots in China, the research and application of offline simulation technology will not only be urgent, but its successful research and application will also have broad market prospects. 1. DELMIA and its IGRIP: DELMIA's integrated solutions are widely used in leading enterprises and research institutions worldwide. They play a vital role in various industries, including aerospace, automotive, shipbuilding, heavy equipment, and consumer goods. DELMIA's software suite excels in modules such as physics-based virtual design and manufacturing and virtual robotics. DELMIA software is a world leader in robot application simulation. DELMIA software significantly reduces human-machine interaction time and engineering preparation time, while improving simulation accuracy. DELMIA/IGRIP is a professional robot simulation software. IGRIP allows for the rapid and graphical construction of various application work units. It also easily imports CAD data, and its automatic collision detection function prevents damage and reduces risk. Whether for a single robot work unit or an entire factory production line, IGRIP provides solutions to improve manufacturing quality, accuracy, and efficiency. 2. Robot Simulation In robot simulation research, the simulation system consists of the following parts: three-dimensional geometric model, motion calculation, trajectory planning, and motion graphics simulation. Based on the structural characteristics of the KUKA240-2 robot, the robot simulation steps are as follows. 2.1 Setting the Robot Task Industrial robots generally have 6 degrees of freedom, and realizing the inverse kinematics of the robot is a very arduous task. DELMIA/IGRIP software can successfully solve this difficulty. The points in the robot path are imported through "Import tagGroupInfo" in the "RobotOflineProgramming" module. In the "TargetAttributes" section of the "RobotMotion" dialog box, various solutions to the inverse kinematics of the corresponding points of the robot can be seen. DELMIA/IGRIP performs singularity analysis on these inverse solutions and selects the appropriate one. 2.2 Robot Trajectory Planning The trajectory planning method used in this paper is a parabolic trajectory. It is assumed that the transition regions at both ends have the same duration t and constant accelerations of equal magnitude but opposite direction. To ensure a continuous and smooth trajectory, the velocity at the end of the parabola must be equal to the velocity of the linear segment. The robot's joint motion velocity goes through three stages: in stage 1, the robot moves with uniform acceleration from the initial velocity; in stage 2, it moves with uniform velocity; and in stage 3, it moves with uniform deceleration until the angular velocity reaches 0. To ensure smooth robot movement and minimize acceleration during task completion, the method employed in this paper is as follows: the robot undergoes uniform acceleration in the initial phase and uniform deceleration in the subsequent phase, without any intermediate uniform velocity phases (i.e., the robot joints only move through phases 1 and 3). This ensures that the robot's acceleration during task completion is smaller than the acceleration during periods of uniform velocity. Under this premise, the following conditions hold: The time frame used in this paper is 4 seconds, and three points are selected in the robot's workspace: tag1, tag2, and tag3. 2.3 Robot Collision Avoidance and Interference Detection The purpose of collision avoidance detection is to analyze potential collisions between the robot and its surrounding environment. Interference detection analyzes potential singularities and velocity/acceleration exceedances during robot operation. This is a necessary condition for ensuring the robot's normal operation. The robot collision avoidance problem is complex and is a challenging but crucial issue that must be properly addressed in its design. Utilizing the standard automatic collision detection function of DELMIA/IGRIP allows users to generate multiple collision and approach queues to avoid collisions, and an automatic path planner can generate collision-avoidance robot trajectories. It can be used to detect robot speed and acceleration exceeding limits, with high efficiency and accuracy, solving practical problems and effectively addressing robot collision issues during the design process. The steps for collision avoidance detection in the DELMIA/IGRIP environment are as follows: In the "Simulation Analysis Tools" toolbar, select "Collision Detection (Enabled)" to perform collision detection on the robot; in "Analysis Configuration," select "Device Settings" to detect the robot's speed and acceleration; in "Analysis Configuration," select "Robot Settings" to detect the robot's linear velocity, angular velocity, linear acceleration, and angular acceleration; and finally, select "Check Clash" to perform interference detection on the robot. 2.4 Kinematic Simulation Analysis Based on the characteristics of robot operation, the trajectories of each joint, the trajectory of the robot's end effector, and the pose of the robot's end effector are generally taken as the research objects. Measurement curves are created for kinematic simulation analysis. The method for generating measurement curves is as follows: Click "Data Readout" in "Simulation Analysis - 'Fools'"; in the pop-up window, click the "Sensors" button and select the corresponding robot; in the pop-up "Sensor Management", select the curves to be measured, such as the trajectory of each joint, the trajectory of the robot's end effector, and the pose of the robot's end effector; simulate the robot, obtain a series of values ​​to be measured in "SpreadSheet", and click "Graphics" to obtain the desired curves. We can also draw other relationship curves in "Customized Curves". This paper takes the KUKA240-2 type handling robot as the research object, and analyzes the robot's motion using DELMIA/IGRIP. The trajectories of each joint of the robot are shown in Figures 1-6, the motion trajectory of the robot's end effector is shown in Figures 7-9, and the spatial trajectory of the robot's end effector is shown in Figure 10. Figure 4. Trajectory of Joint 4. As can be seen from the figure, the situation of each joint of the robot during the entire motion process matches the set initial conditions, and the entire curve is consistent with the motion under each working condition. The posture of the robot end effector is generally represented by a 3×3 rotation matrix. DELMIA/IGRIP uses the RPY method, which allows the robot's posture to be represented by three quantities. The simulation results are shown in Figures 11-13. From the simulation analysis of industrial robots using DELMIA/IGRIP, we can clearly obtain the trajectory of the robot joints in space, the spatial trajectory of the robot end effector, and its posture. Furthermore, DELMIA/IGRIP can help avoid robot collisions. 3. Conclusion Robot motion simulation is an important component of robot technology, and robot simulation is also a crucial part of robot offline programming systems. The application of the modeling and simulation module of DELMIA/IGRIP software successfully solves the problem of not being able to directly observe the spatial motion of the robot during operation, representing a beneficial attempt at intuitive and convenient robot simulation. [b]References:[/b][1] Beijing Saisida Technology Co., Ltd. DELMIA and Virtual Manufacturing Solutions [z]. 2003. [2] Zhu Shiqiang, Wang Xuanyin. Robotics Technology and Its Applications [M]. Hangzhou: Zhejiang University Press, 2600. Click to download: Industrial Robot Simulation Based on DELMIA/IGRIP