Well. We welcome all who are able to join us for this TriMech webinar. robotic modeling for aerospace. We're going to cover three primary areas paint and surface, drilling and riveting. And virtual commissioning with control build, which also involves using a virtual twin. Of course, we'll use our 3D experience dummy a software, and we're going to have three presenters. The first Rick Wesolowski, then Alex Anderson and finally Nick Reza. So without further ado, let's get into our first topic. Robotic modeling for aerospace paint and surface. Robotic surface simulation involves things such as surface painting, shot painting to strengthen surfaces, blasting and polishing. Now we're able to have very robust cell setup as well as a streamlined process. In doing this, the robustness comes from the fact that all modern surface processes are supported. We're able to do things such as masking and waypoints and very streamlined that after we define the profile, the trajectory in the surface operation, we can optimize and simply download the program. So here we have the tree structure of the manufacturing surface simulation, which includes the manufacturing cell itself has highlighted. We also include a rail system which the robot can run on. A seventh axis single axis. We have a Phenix robot which is the paint robot. We also have a manufacturing product, part of a fuselage, and we have a some sort of a jig or fixture to hold. The manufacturing product is expressed in a tool, equipment and, even the stand to hold the jig or fixture itself. We include a control equipment. We don't see something physically on the screen, but we have it in the as a placeholder that controls the robot. And the seventh axis system itself. It's a control equipment and leads to those behaviors. Finally, we have here a a paint gun that's mounted to the end of the robot and actually a polishing gun, a polishing tool as well. So those are our elements of our paint surface simulation. Here we're seen applying an initial condition known as a simulation state to the cell. we are hiding the polishing gun, setting up the robot to avoid singularity. And the nice thing is that we can have as many simulation states as we want. The end result of our simulation setup should be something like this. where the robot and the rail deposit, the film deposit, the paint. and we can see clearly the cone shape of the paint deposition. And this is after the paint profile. The trajectory and the surface task have been defined. So the question now is how do we get there? Designing the various profile parameters is extremely important to the integrity of the simulation. Regardless of what kind of process you're using. Now here we're going to see how we can define a paint profile. Of course, the gun itself has to be close enough to the manufacturing product for film deposition, we have three, tabs paint position and calibration. the position tab here tells us where the stream or the, shape of the paint deposition is. in regards to the UV frame. So here we can see a -300. We can move it back and Z to zero. of course that's not where we want it. We want it to come out of the gun. So we're going to set the z value to -300. We also have the calibration tab which is very heavy dependent upon the paint gun manufacturer or the integrator for values. So we have paint position and calibration tabs. All these work together. And much of this is not experimental but rather from the paint gun manufacturer. And here we have film deposition, the cone shape. We can see that the thickness and microns is smallest in the x and y direction at the outsides. And of course, greatest as you come in towards the center of the stream, after defining the paint or polishing profile, we have to define the surface trajectory as shown here. So we first have to click on a surface and it gives us the stroke pattern. Whether it's zigzag one way we have the option of changing those and changing the vias and changing the directions. There's many different functions and abilities. If we need to add a surface, we can click on the geometries button and click on another surface and it updates dynamically the extent of our strokes and the width. If we need to change the distance between strokes, between swipes of the paint gun. we can change it here in the distance variable, between strokes, perhaps we have updated the paint gun characteristics, and we need to change that distance, and it automatically, dynamically adjusts and becomes greater or smaller depending on our value. We can also change the approach direction, whether the gun comes from behind or in front of the surface. The sweep direction simply by double clicking on the actual, solid blue arrows, we can change from up and down to left and right, the the corner that it starts at. And also we can dynamically change the extents of where these strokes will be. continued. In case we, we need some overspray and then we need to go further beyond the extents of the manufacturing product. So many, many different options that we can adjust either making these, stroke smaller, adjusting for windows. And of course, once we're done, we can say, okay, after basic trajectory creation, we need to create a surface task. So we hit the true surface task button. And of course select the applicable robot that we want to create a surface task for. In that Create Operations dialog box we have to select a trajectory. We can name the task. We can also set different parameters such as two profiles, paint profiles, waypoints, and other things. After selecting okay we have a surface task in our behavior category tab. But we can clearly see that the robot cannot reach all of those targets. So in order to make this work, we're going to have to program the auxiliary axis in the programing tab. select the command compute all and select a strategy for the rail movement. After doing this, we can run the task and we can see that the robot can, along with the, dolly, can reach all the points. During surface programing and while running the surface simulation, the teach window can be displayed, which not only shows each paint operation, trigger or activation of the nozzles, but also all the various settings can be observed and edited if necessary. Very convenient triggers or brush activations that are on or off can be edited and enabled. Here in the teach window we can see the different options. We can also set clash to make sure that the robot in its travels clears all obstacles, including the fixtures and the manufacturing product. In addition, during analysis, we can of course display the paint deposition as a color, but we can change the simulation options to change to threshold, in which a legend will be displayed as to the micron deposition of paint thickness. And of course, our goal is to get as consistent of a coverage as possible if we want to do masking, for example, a window, an area that we don't want to paint, we can accomplish that as well. Here we have a surface that has targets that actually will be triggers to trigger the nozzle on and off once it hits those targets. And here we can see that the nozzle is turned on and off when it comes to those targets. Here's another way we can actually use a surface and not as software targets, but rather as a actual obstruction. so that the nozzle is not turned on or off, but simply, is impeded from hitting the manufacturing surface. So we can see here the, lack of paint underneath the obstruction. When we're happy with the results, we can create a robot program or export the program, download it, we select the available task that we need. We set the parameters for the type of robot, in this case authentic. We are created with an lzw file, which we can save locally or to the server. Let's see how we can simulate a process such as this called shot painting, which strengthens the surfaces of products using the projection of small ball bearings. First, we need to go into preferences to set the application type under robotics robot surface simulation as shot painting, as well as adjusting the various trajectory sequence of operation names. After creating the shot peen profile, we can access it from the immersive browser by double clicking. We have many options, including the position, calibration, and various settings. We can do. Here we can see the position of the double beams. We have two, nozzles, and we can set the positions up and determine the projection. strength as well as the material. Once the profile has been set up, we can create the surface task, which, enables us to associate the task with a certain tag group and set other parameters. In this shot painting process, we have two tests running in parallel, including a fixture that revolves the part as well as the robot that moves the shot painting beams. And those can be run in parallel, as we can see here. in the diagram. we can run the task. We can also simulate the shot ping process for an inner diameter, for inner surfaces that need to be strengthened. Here, Lance is rotating off of the end of a robot. And in the next situation, the tool at the end of the robot, the shot peen tool will be stationary while the part is being rotated in a moving fixture. So many different options. To simulate polishing surface tasks, we also need to go to preferences and make sure that we're set up with the appropriate application type. The next order of business is to set up the polishing profile, which gives us many different options such as setting the tool, the contact part, the direction and calibrating, various options. Next, we're working on this surface trajectory of the polishing task. And here we can specify the geometry being used, the strategies of the strokes via patterns, the distance between the strokes and set, different characteristics and determine the tool being used. The polishing tool. We can simulate the task, by running it. And here we can see the robot moving into position on the gurney, going ahead to start polish. And we can set different simulation options, such as, Polishing. We can also set it to be in threshold display, which shows the intensity of the removal of the material. Usually in most industrial applications we will have multiple disks on our polishing tool. As we see here, we can set all the geometry and gimbal characteristics, the pressure needed, and set this up in advance of our simulation. Then once we run the simulation, we can see how the removal and the polishing material is applied to the surface and the various same options can be seen. As we see here, we see multiple passes and depending on the position, we see different disks involved. This concludes the first segment of this webinar Robotic Paint and Surface Simulation. We hope you enjoyed it. And now we'll get into the second segment with Alex Anderson entitled Robotic Drilling and Riveting. Today we will be demonstrating and learning about the different capabilities of the drilling and riveting operations. First, we will take a look at the different methods we can use to create manufacturing fasteners that will be used during the drilling and riveting process. The first method gives us the option to automatically create fasteners using a synchronized data with planning command. We will now move on to the next two methods and learn how to manually create fasteners ourselves. The first method we will demonstrate is how to create manufacturing fasteners from design fasteners. You can use this method if you are manually creating and inserting a new manufacturing product, and then selecting Event Center type during the pop up window. The next method we will be demonstrating is how to create manufacturing fasteners from points. This method involves importing an engineering document containing all the references of rivets with their associated parameters. This method allows us to add a 3D representation from a database or catalog, because it has no relation to the code answers. Also notice we do not check off the create pattern box here, but we do have the option to and it will create them automatically. We will now show how you can create and apply filters to the manufacturing pack to help with the creation of manufacturing patterns. Cleaning and applying filters gives us the ability to hide or show fasteners we do or don't want to include in the patterns. Once filters are attached, select the manufacturing pattern command and then add an Injection Fasteners to pattern button. Then select the string of fasteners you would like to add to this pattern. The manufacturing patterns that you create show up in the Manufacturing View window. Now that we have created manufacturing patterns, we will learn how to edit the user parameters of the manufacturing fasteners. Editing the manufacturing fasteners will allow us to use them later in the profile section, we are able to change the diameter, link depth or color of the manufacturing fasteners and this can be done to individual fasteners or all fasteners glued into a pattern. Now we will create profiles and actions. Start by selecting Create Profile Command and in the process type choose between a drill rivet profile, a drill profile or a rivet profile. Profiles help define the parameters used in the motion of the robot and gun during the drilling and riveting process. Now we create a robot task. You add the option to group all of the operations into a sequence, or you can leave that box unchecked. Because we had that box checked, we can see that all of our actions will be wrapped into one single drill rivet sequence. From here, we can expand that sequence and we'll see the individual actions. And we have the ability to add in robot motions here. Now we're playing that task. And we can actually see the drilling and riveting process happening. And if we go back underneath our sequence, we can see that we have the ability to add an asset to either all or individual actions underneath a sequence. When actions are not grouped into a single sequence, but really where the action can be edited, this allows the addition of robot motions to the drill rivet operations, which can be found underneath the drill or rivet action. This can be used to create more complex movement of the robot during the drill or rivet process. Lastly, select the applicator profile command and then select the robot. Then from the dropdown, select the profile group type. Then create templates. Give each template a name, type and default value. Applicator profiles define the user profiles with their own attributes. For a controller, each robot may have applicative profiles associated to it. This is used to define the parameters that must be downloaded, but without any impact on the simulation. This concludes the robotic Drilling and Riveting section of the webinar. Thank you for your attention. We will now turn it over to Nick, who'll be talking about virtual commissioning. Virtual commissioning. It's the process of developing, testing and validating control software before being installed onto a physical PLC. Why virtual commissioning? It reduces on site testing, project lead times and project costs and improves software quality and productivity. It can provide virtual training for workers with 3D experience. We can plan, program and simulate industrial devices, robots and controllers all in one integrated platform. Virtual twin lets you visualize, model and simulate an entire environment of sophisticated experiences. Experiences start with designing a 3D model that represents the shape, dimensions, and properties of a physical product or system. Simulations are ran on a virtual model to explore how the product will behave when assembled, operated, or subject to a range of events. It can be used to process improvements after the line or sell has been commissioned, which allows you to try things before they're implemented on the shop floor. The benefits of Virtual Twin is to boost productivity and product quality, improve business resilience, facilitate sustainable innovation, enhance safety cost reduction in early cost free failure identification control build allows the development of several cycles of an application. Some benefits are reduced as time and development cost improves. Quality and safety. Manages and minimizes plant commissioning risks. Facilitates easy maintenance of control software and provides a training platform. Here's an example of a control build program. You can also connect a physical PLC to control, build and run a simulation to test your real life processes. This eliminates costly damages to expensive hardware. Here's an example of control. Build connected to 3D experience. To start the simulation, the operator will press the start button and instruct the AB robot to deliver the panel for its drilling and riveting process. After the panel has been delivered, the operator will have to cook a robot drill. The upper portion of the panel, and this stop button can be pressed to stop both robots from running in order to attend any issues. To restart the simulation, press the E stop button again. After the robot has completed the upper process, the operator will instruct it to rivet the middle section of the panel. After the middle portion has been completed, the operator will instruct the robot to draw the lower part of the panel. On the lower part of the panel has been completed, the operator will instruct the AB robot to remove the panel and place it on the automated Guided Vehicle. Damia has safety features that are built into the software. In this case, we have an employee that was walking towards a robot, breaks the light curtain and shuts the whole system down. This avoids any potential injuries that could happen in real life. Thank you Nick. This concludes this portion of the webinar virtual commissioning with a control build using a virtual twin. Well, we sincerely hope you enjoyed our webinar, Robotic Modeling for aerospace, where we reviewed patent surface drilling and riveting and virtual commissioning with control build all in the 3D experience Dalmiya environment. Thank you for attending and now we'll open it up for any questions and answers that you may have.