GOVERNMENT POLYTECHNIC

COLLEGE
FINAL SEMESTER PROJECT
REPORT

SIEMENS CENTRE OF
EXCELLENCE
JNTU ANANTHAPURAMU

[1]
 A REPORT ON
INDUSTRIAL TRAINING
ON
“INDUSTRIAL ROBOTICS &
MODELLING”
AT

COE JNTU,ANANTAPUR
“ROBOTICS DOMAIN”
GUIDED BY VAMSHI KRISHNA
SIR
MKS.DATTA SIR

SUBMITTED BY
K.SUSHMA MURTHY(17020-M-088)
M.ALEKHYA(17020-M-099)

[2]
A.RAMYA(17020-M-061)
P.RAGHUNATH REDDY(17155-M-046)

COURSES LEARNT:

 ESSENTIALS OF NX CAD

 CNC TURNING

 ROB CAD BASICS

ROBOT STUDIO

HANDS ON INDUSTRIAL ROBOTS

RAPID PROTOTYPING

SOFT SKILLS

[3]
ACKNOWLEDGEMENT

Written words have an unfortunate tendency to degenerate genuine

gratitude into a formality. However it is the only way to record one’s
feeling permanently

I was bestowed with the golden opportunity to undergo my training at

siemens centre of excellence ,Anantapur and hence take this
opportunity to express my heart felt thanks to all those who have been
associated with my training

I express my special thanks to Ms.yasmeen mirza “centre incharge ,I

gained experience and knowledge about the importance of work
culture and planning ,which is one of the best of the establishment .i
had the privilege of undergoing my internship during the 6th semester
I had exposure to:
 Knowledge about computer and various courses ,which are used
in an organization for its efficient function
 Achieving goals and targets by proper planning and time
management
 The importance of communication skill especially when having
a group discussion

I express my heart felt gratitude to Mr.Vamshi Krishna and

Mr.Datta sir for providing me with endless support and

[4]
encouragement in all my endeavours at every moment during my
internship

COMPUTER AIDED DESIGN (CAD)

INTRODUCTION TO NX CAD:
CAD (Computer Aided Design) is the use of computer software to
design and document a product’s design process.
Engineering drawing entails the use of graphical symbols such as
points, lines, curves, planes and shapes.  Essentially, it gives detailed
description about any component in a graphical form.
CAD stands for Computer Aided Design. CAD is used to design,
develop and optimize products. While it is very versatile, CAD is
extensively used in the design of tools and equipment required in the
manufacturing process as well as in the construction domain. CAD
enables design engineers to layout and to develop their work on a
computer screen, print and save it for future editing.
USE OF CAD :
CAD is used to accomplish preliminary design and layouts, design
details and calculations, creating 3-D models, creating and releasing
drawings, as well as interfacing with analysis, marketing,
manufacturing, and end-user personnel. 
CAD facilitates the manufacturing process by transferring detailed
information about a product in an automated form that can be
universally interpreted by trained personnel. It can be used to produce
either two-dimensional or three-dimensional diagrams. The use of
CAD software tools allow the object to be viewed from any angle,
even from the inside looking out. One of the main advantages of a
CAD drawing is that the editing is a fast process as compared to
manual method. Apart from detailed engineering of 2D or 3D models,

[5]
 CAD is widely used from conceptual design and layout of products to
definition of manufacturing of components. 
CAD reduces design time by allowing precise simulation rather than
build and test physical prototypes. Integrating CAD with CAM
(Computer Aided Manufacturing) streamlines the product
development even more.
CAD is currently widely used for industrial products, animated
movies and other applications. A special printer or plotter is usually
required for printing professional design renderings. CAD programs
use either vector-based graphics or raster graphics that show how an
object will look. 

CAD SOFTWARE ENABLES US TO :

 Efficiency in the quality of design
 Increase in the Engineer’s productivity
 Improve record keeping through better documentation and
communication

Today, the use of CAD has permeated almost all industries.

From aerospace, electronics to manufacturing, CAD is used in all
industry verticals.
Since CAD encourages creativity and speeds up productivity, it is
becoming more and more useful as an important tool for visualization
before actually implementing a manufacturing process.

TYPES OF CAD SOFTWARES:

 2D CAD
 3D CAD
 3D Wireframe and Surface Modelling
Solid Modelling

COMPANIES USING SIEMENS NX:

 Daimler Mercedes

[6]
 Nissan
 Fiat
 Chrystler
 Mazda
 Suzuki
 General motors

SKETCHES WE MADE:

MODELLING:
Nx mechanical design software delivers comprehensive modelling
enabling you the most productive modelling approaches
interchangeably from explicit solid and surface modelling to
parametric modelling

[7]
NX enables engineers to lay out piping and instrumentation diagrams
(P&ID) in two dimensions, while maintaining the design tied to the
3D space model. Designer powers faster authoring, common libraries
between diagramming and 3D, connectivity validation, diagramming
to 3D, and equipment-level data management

ASSEMBLY
Assembly modelling is the process of creating designs that consists of
two or more components assembled together at their respective work
positions
The components are brought together and assembled by applying
suitable parametric assembly constraints
 
We create new components (Menu>Assembly>Component>create
new) in the assembly named

[8]
1.Cylinder
2.Piston
same process create new component named piston.
In assembly navigator
By double clicking on cylinder in assembly navigator you can make
cylinder as a work part.
By making Cylinder as a work part you can start modelling in the
cylinder.
First create a circle
then extrude it

ASSEMBLIES WE MADE IN NX:

[9]
CNC TURNING:
For the first week we went through the common course I.e. CNC
turning.
Software: Sinumerik 808D on PC 4.6

Introduction:
Manufacturing: It is the process of converting raw material into a
finished product.
Types of manufacturing process:
 Casting
 Machining
 Welding and Assembly
 Forming
 RPT (Rapid Prototyping)

Product creation cycle:

 Design
 Analysis
 Making prototype
 Material selection
 Process selection
 Production
 Inspection

Machining:
It is the process of removal of wanted material by using a
cutting tool in order to get the desired shape and size.
Machining operations:
1. Turning
2. Milling
[10]
 3. Drilling
4. Shaping and planning
5. Broaching
Lathe operations:
1. Turning
2. Facing
3. Knurling
4. Grooving
5. Forming
6. Taper turning
7. Chamfering
8. Thread cutting
9. Drilling

[11]
APT (programming language)
 APT or Automatically Programmed Tool is a high-level
computer
programming language used to generate instructions for
numerically controlled
machine tools
Douglas T. Ross is considered by
many to be the father of APT.
Tool Path for program
PARTNO SAMPLE PART MILLING
OPERATION
MACHIN/MILLING,02
CLPRNT
UNITS/MM
CUTTER/20.0
POINT/0, 0, -25.0
P2 = POINT/160.0, 0, -25.0
P3 = POINT/160.0, 60.0, -25.0
P4 = POINT/35.0, 90.0, -25.0
P8 = POINT/130.0, 60.0, -25.0
L1 = LINE/P1, P2 L2 = LINE/P2, P3
C1 = CIRCLE/CENTER, P8, RADIUS, 30.0
L3 = LINE/P4, LEFT, TANTO, C1
L4 = LINE/P4, P1
PL1 = PLANE/P1, P2, P4
REMARK Milling cutter motion statements.
FROM/PTARG
SPINDL/1000, CLW
FEEDRAT/50, IPM
GO/TO, L1, TO, PL1, ON, L4

[12]
GORGT/L1, PAST, L2 GOLFT/L2, TANTO, C1 GOFWD/C1,
PAST, L3 GOFWD/L3, PAST,
L4
GOLFT/L4, PAST, L1
RAPID
GOTO/PTARG
SPINDL/OFF
FINI

The term CNC stands for Computer Numerical Control and it is

defined as the
use of computer is seen here system in order to control the machine
tool through
which the process becomes more faster in term manufacturing
increases.

Difference Between NC, CNC and DNC:

Advantages of CNC machines:

[13]
1. Machining is accurate
2. Time taken to perform a job is very less
3. Safe to operate
4. Number of operators required to operate a machine are
reduced
5. No possibility of human error
6. Reliable
7. Even very complex designs can also be made
8. Low maintenance required
9. They are versatile
10. Uniformity in designs
11. They could run for all 24 hours a day

Disadvantages of CNC machines:

1. They are costly
2. Trained operator is required to operate the machine
3. In case of breakdown a highly skilled professional is required
to solve

Applications:
 Aerospace
 Machinery
 Electrical
 Fabrication
 Automotive
 Instrumentation
 Mould making
 Medical

Work-flow of CNC machine:

[14]
Co-ordinate system:

Types of coordinate system:

Coordinate system enable the exact description of all points on a work
plane
Basically, there are two types of coordinate system
• Cartesian Coordinate system
• Polar Coordinate system

CARTESIAN COORDINATE SYSTEM

We have already learned this type of coordinate system
primary class. A Cartesian coordinate system, also called rectangular
coordinate
system includes for the exact
description of the points.

POLAR COORDINATE
SYSTEM
The polar coordinate can be
used instead of Cartesian
Coordinate to describe

P1 RP=100 AP=30*
P2 RP=60 AP=75*
Here RP Polar Radius
AP Polar Angle

Dimensioning methods:
We having 2 types of ng methods to describe the Points in both above
are:
 Absolute Dimensioning
 Incremental Dimensioning
FOR LATHE ABSOLUTE

P1 X25 Z-7.5
P2 X40 Z-15
P3 X40 Z-25
P4 X60 Z-35
[15]
FOR LATHE WORKPIECE
INCREMENTAL DIMENSIONING (G91)

P1 X25 Z-7.5
From Work Part zero
P2 X15 Z-7.5
From position P1
P3 X00 Z-10
From position P2
P4 X20 Z-10
From position P3

PREPERATORY (G) CODES

G00 Linear Interpolation at rapid traverse
G01 Linear Interpolation in slow feed motion
G02 Circular Interpolation in Clock-wise direction
G03 Circular Interpolation in Counter Clock-wise
G04 Dwell time
G17 X/Y Plane Selection
G18 Z/X Plane Selection
G19 Y/Z Plane Selection
G40 Tool Radius Compensation Cancel
G41 Tool Radius Compensation Left Side
G42 Tool Radius Compensation Right Side
G54 To G59 Settable Work Part Zero
G500. Settable Zero Offset
G75 Return to Reference Point (Homing)
G64 Continuous Path
G70 Program in Inch data Input
G71 Program in MM data Input
G90 Absolute Dimensioning
G91 Incremental Dimensioning

[16]
 G94 Feed in mm/min
G95 Feed in mm/Spindle revolution
G96 Constant Cutting Speed ON G96….S….LIMS=…..
G97 Constant Cutting Speed Off

MACHINE (M) CODES

Miscellaneous function
M00 Program Stop
M01. Program Optional Stop
M03 Spindle in Clock-wise direction
M04 Spindle in Counter Clock-wise
M05. Spindle Stop
M06 Tool Change at Home Position
M08 Coolant On
M09 Coolant Off
M16 Tool Change at any position
M17 Subprogram end
M30 Program End & Reset

Programming:
File format:
 Main program file
 Sub program file
Main program consists of:
1. Header
2. Part program
3. Footer

[17]
CNC programming on turning:

G18 G64 G71 G90 G95;

G75 X0 Z0;
M06 T1 D1
G96 M03 S500 LIMT-1000
G00 G54 X26 Z1
M08
G01 X22 F0.3
G01 Z-22
G01 X26
G00 Z1
G01 X20
G01 Z-22
G01 X26
G00 Z1
G01 X18
G01 Z-22
G00 Z1
G75 X0 Z0
G97
M05

[18]
 M09
M30

Sub program: sub program is a part of main program. It is used in the

programs
which consists of many operations or many steps.

CNC sub program for step turning:

M03 S500 F0.3

G01 X0 Z0
G01 X50
G01 Z-40
G01 X80
G01 Z-60
G01 X100
G01 Z100
M17

Not only this we had also written many programs for different
operations like
grooving, thread cutting, undercut and contouring by using canned
cycles.

We had also manufactured a product i.e. pen holder.

[19]
And we also gave a presentation on different topics like AGV

We even collected the technical details and specifications of CNC

lathe machine

INDUSTRIAL ROBOTS
 It is a Robot System used for Manufacturing. Industrial Robots are
automated,
 Programmable and capable of movement of three or more axes.
 As in our Training session we work on the following industrial
Robots:
1.Material Handling Robot
2.Arc Welding Robot
3.Spot Welding Robot

1.Material Handling Robot [IRB 140]:

IRB 140 is a 6 axis Industrial Robot with a payload
of 6kg,
It is designed Specifically for Manufacturing process. It can used
flexible robot
based automation The Robot has open structure that is specially
adopted for the
flexible use ,and can communicate extensively with external
systems.
As this Robot is equipped with IRC5 controller, Flexpendant and
Robot control
software. The Robot control software supports in every aspect of the
robot

[20]
system such as motion control, development and execution of
application
programs communication etc The IRB 140 can be mounted on floor
inverted
or wall in an angle. It has a large work envelope and all mechanical
arms are
completely IP67 protected.

Axis Movement:

Axis Type of Motion Range of Movement

1. Rotation Motion +180° to -180°

2. Arm Motion +110° to -90°

3. Arm Motion +50° To -230°

4. Wrist Motion +200° to -200° (Default)

5. Bend Motion +115° to -115°

6. Turn Motion +400 to _400 (Default)

. Main Applications:
1.Cleaning/Spraying
2.Machine Tending
3.Material Handling
4. Assembly
5.packing and Deburring
Activity:
In our Training Session we did many activities like creating a
[21]
 programs
for symbols, pick and place operations, and also we created
programs to IRB140
to write on work table like GPT,. WELCOME TO JNTU COE etc….On
below we can
see the activities.

This are the activities we did.

ARC WELDING ROBOT:

The IRB1520 ID(integrated dressing) hose package is totally
integrated in and
the base of the robot. This means all media necessary for arc
welding including
power, welding wire shielding gas and pressurized air is routed for
[22]
ma-ximized
performance and energy efficiency.
IRB1520 ID is an 6-axis Industrial Robot, with a pay load of 4kg
armload of 10kg. As the IRB1520 ID delivers stable welding, excellent
path accuracy,
short cycle times and extended life expectancy of the hose package.
Thanks to integrated dressing, welding around cylindrical objects can
be carried
out without any stops and narrow spaces are easily accessed.
The highly compacted 1520 ID can be mounted in both floor and
inverted position

SPOT WELDING ROBOT:

[23]
 Performance industrial robot. This robot is equipped with the
IRC5 controller
and robot control software.
IRB 6700 is floor mounted and inverted floor mounted.

Specifications:
S.No Description Values
1. Reach 2.60m
2. Payload 200kg
3. Protection Ip67
4. Controller IRC5 controller
Performance:

[24]
S.No Description Values
1. Pose Repeatability 0.05mm
2. Pose accuracy 0.03mm
3. Path Repeatability 0.11mm
4. Path accuracy 1.7mm

S.No Description Values

1. Manipulator weight 1205kgi
2. Relative Humidity Max 95% at constant
temperature
3. Robot base 1004*720mm
i: weight without dress pack
Axis Movement:
Axis movement Working range Axis max speed
Axis1 Rotation +170° to -170° 110°/s
Axis2 Arm +65° to -65° 110°/s
Axis3 Arm +70° to -150° 110°/s
Axis4 wrist +300° to -300° 190°/s

[25]
Axis 5Bend +130° to -130° 100°/s
Axis6 Turn +300° to -300° 210°/s

DIGITAL MANUFACTURING
Digital manufacturing is the use of integrated, computer based
system Comprised of Simulation, three-dimensional (3D)
visualization to create product and manufacturing process definitions
simultaneously .
Digital manufacturing systems allow manufacturing
engineers to create the complete definition of a manufacturing
process in virtual environment including;-tooling, assembly lines,
work center, facility layout, resources
ROBCAD
Robcad is a workcell design and simulation tool, that allows you to
design, simulation, optimization, validation and off-line programming
of multi-device robotic and automated manufacturing process in the
context of product and production resource information.

[26]
 Robotic simulation widely utilised in the automotive industry as
their BIW assembly line involves multiple robots, tooling
fixtures ,humans,

i
ROBCAD BENEFITS
1. Increases manufacturing quality, accuracy and profitability
2. Reduce labour hours and process engineering lead time
3. Enable better use of production equipment
4. Reduce production costs
5. Shorten production ramp up through validated process

ROBCAD FEATURES

[27]
i

1. Interoperability with major MCAD systems

2. Extensive robot libraries
3. Component and complex kinematics modelling
4. 3D workcell layout definition
5. Robotic path definition with reachability check,collision detection
6. Motion simulation and synchronization of multiple robots and
devices
7. Upload optimized programs from shop floor

.
ROBCAD APPLICATION

ROBOT STUDIO
 INTRODUCTION:
The basic commands to start using ABB Robot studio ,All the
necessary procedures to create a given robot application are
described step -by -step several print screens from robot studio help
us to understand in a better way the process to operate robot studio
and create robot program offline

 MODULE 1
This is how Robot studio looks like:

Here we can see the help tab with all necessary information about
robot studio ,RAPID language and the ABB teach pendant

ROBOT:
The manipulator acts as body of a robot ,the controller is a
combination of computer and drives ,end effector is basically a tool
Man- machine interface which includes laptop and teach pendant

CONTROLLER:

The controller is the brain behind the functioning of robot

The picture below depicts IRC5 Controller
TYPES OF CO-ORDINATE SYSTEMS:
1. The base co-ordinate system
2. The world co-ordinate system
3. The tool co-ordinate system
4. The work object co-ordinate system

JOGGING:
 Jogging means manually moving a robot using the joy stick on the flex
pendant
 Jogging cannot be done in auto mode
 Jogging is used while teaching a robot points in space
 Jogging can be done while programming

BASIC ROBOT PROGRAMMING

The programming language used by ABB robots is the rapid programming
language.
Programs can be accessed by going to the program editor window
To start writing a new program click on tasks and programs then on file
and then on now
Type in new program name using the soft keyboard and you are ready to
start
 A RAPID PROGRAM
Move J Target_10 ,v1500,z100,tool0\wobj:=
Move J Target_20 ,v1500,z100,tool0\wobj:=
Move J Target_30 ,v1500,z100,tool0\wobj:=
Move J Target_40 ,v1500,z100,tool0\wobj:=
Move J Target_50 ,v1500,z100,tool0\wobj:=
END PROC
PROC main( )
Path_10;
Path_10;

INSTRUCTION SET:
The common instructions available can be classified as:
 Motion instruction
 Program flow instruction
 Assignment
 Communication instruction

RPT(Rapid prototyping):
We just had an introduction about RPT. We didn’t work on software.
Introduction:
Prototype: An original or the working model of a new product or new
version of an existing product.
1. Crude prototype- proper, perfect imagination
2. Working prototype- demonstration
3. Final prototype- final product
Need of prototype:
 To confirm suitability
 To conduct test and verify performance
 Visualisation
 For promotion purpose
 To improve the quality of final product
 Errors can be detected much earlier
 Cheap to manufacture, test and can make changes in final product

Development of prototyping:
1. Manual prototyping
2. Virtual prototyping
3. Rapid prototyping

Advantages of RPT:
  One shot operation
 Reduced lead time
 The closeness to serve the purpose of prototype
 Flexible
 Economical
 Clean and safe operation
 Tooling
 User friendly

Limitations:
 Less than 0.5mm wall thickness can not be manufactured
 High precision process, more expensive
 Physical properties may vary
 It is not comparable with CNC

STL:(Stereo Lithography)
STL-Standard Triangle Language
STL-Standard Tessellation Language
 It can not store curve geometry only surface geometry and 3d
geometry can be stored
 It is encoded as planar triangles- Tessellation
 Each triangle is facet
 STL format

 It can not store colour and texture. If we want those .obj format is
used
 STL files use planar elements they can’t represent curved surface
exactly.
 Before 3D model is sent into RPT machine, it must be converted to
STL format
 STL is the current industry standard data for RPT and manufacturing
 After converting it into STL file we cannot edit the model in CAD
software

Fundamentals:
1. Input: it can be either CAD model or Solis model or
physical model
2. Material: solid based, liquid based, powder based
3. Method: it will be based on the material used
4. Application
Classification:
  For solid based material
1. FDM (Fused Deposition Method)
2. LOM (Laminated Object Manufacturing)
 For liquid based material
1. SLA (Stereo Lithography Apparatus)
 For powder-based material
1. SLS (Selective Laser Sintering)
2. 3D ink jet printing

FDM (Fused Deposition Method):

 Melting of a wire shaped plastic material and deposition.
 Limited part complexity
 Two different materials for part and support
 L
OM (Laminated Object Manufacturing):
Here a series of thin laminates are laid out on a build platform.  The
laminates can be paper, plastic sheet or metal foil.  With each layer, a
computer-controlled laser or other cutting device traces out the pattern. 
The platform then drops by the thickness of one layer, a new laminate is
glued on top and the
process continues.

This stacking process makes a finished part which is less sophisticated

than a SLS or SLM equivalent, but it is cheaper and does not require
specially controlled working conditions.  Also, if paper is used as the
laminate the finished part will be similar to solid wood and can be worked
accordingly.

SLA (Stereo Lithography Apparatus):

A liquid resin is hardened via laser. Vers detailed models are possible and
it is also used for production of individual products.

SLS (Selective Laser Sintering):

 Local melting or sintering of a powder takes place by a laser
 Direct method: the powder particles melt together
 Indirect method: the powder particles are coated with a thermoplastic
binder which melts up
This is all about Rapid Prototyping

SOFT SKILLS:
This is a special course in our internship in which we learned
communication skills. We gave JAM sessions. We also participated in
Group Discussions.
Introduction:
There are top 10 soft skills:
 Communication skills
 Self motivation
 Leadership
 Responsibility
 Team work
 Problem solving
 Decisiveness
 Ability to work under pressure and time management
 Flexibility
 Negotiation and conflict resolution

Communication skills:
It includes:
 Listening
 Language
1. Verbal communication
2. Nonverbal communication like gestures and postures
Self motivation:
It includes:
 Positivity: we have positive thoughts and positive mentality
 Ambition
 Commitment
 Initiation
Leadership:
 A positive attitude and outlook
 Ability to make quick and effective decisions
 Problem solving or conflict management skills
 Ability to communicate effectively
 Aptitude for self motivation and motivating others
Responsibility:
 Trust worthyness
 Discipline
 Motivation
 Consciousness
 Accountability
Decisiveness: It is characterized by the ability to make quick and
effective decisions it does not mean recklessness or impulsiveness
 Ability to put things into perspective
 Weigh of the options
 Access all relevant information
 Anticipate any consequences that may be good or bad
 A decisive employee will take effective and considered actions
quickly, especially when under pressure

NEGOTIATION AND CONFLICT RESOLUTION:

Conflict resolution depends on strong inter personal skills and ability
to establish a rapo with colleagues and clients
To be an adept negotiator is to know how to influence while sensitivity
seeking a solution which will benefit all parties
Flexibility:
It is an important soft skill since it demonstrates an ability and
willingness to embrace new tasks and new challenges calmly without fuss
Flexible employees are willing to help out wherever needed, take on
extra responsibility and can adapt quickly when plans change
Ability to work under pressure and time management:
Many jobs will come with demanding deadline and high stakes.
Recruiters, price candidate who show a decisive attitude and capacity to
compromise and set stress a side
 Time management is closely related to ability to work under pressure as
well as within tight deadlines. Employees who manage their time well can
effectively prioritise their task.
JAM and it’s rules:
JAM is just a minute. In this session participant tries to speak up to a
minute on the topic and trying not to break the rules
The exact rules usually depend on the person conducting the jam, in
fact there are usually special rules even for a given round.
 No repetition
 No hesitation
 No deviation from topic
 Decent Body language needs to be maintained
 Conclusion or resolution needs to be covered in a minute
Group Discussion (GD):
Group is a collection of individuals, who have regular contact and
frequent interaction and who work together to achieve a common set of
goals
Discussion is the process where by two or more people exchange
information or goals in a face to face situation to achieve a goal
GD is used by many organisations like companies, institutions,
schools etc to know whether the candidate has inter personal
communication skills, confidence in public speaking, team spirit,
leadership abilities, social behaviour and problem solving skills.
Do’s and Don’ts in GD
 Do’s
 Should start the GD first
 Should make all the
people to involve in GD
 Should have good body
language and
communication
 Should speak relevant to
the topic
Don’ts
 Should not interrupt
while others are
speaking
 Should not divert the
topic
 Should not use more non
verbal language
 Should not be dull

We gave many JAM sessions on different topics like women

empowerment, village, agriculture, forest etc
We also finished GD on corona virus
CONCLUSION:
We gained tremendous knowledge from this internship every session was
quite inspiring we learnt many courses here which will be a helping hand
in our future we would like to thank for our trainers for their efforts in
making us efficient in the courses
Presentations made us much more confident to face the crowd

a
All the information is taken from our written book and google by referring
these links
https://www.slideshare.net/ShahidFaizee/abb-training-report
https://www.slideshare.net/teperini/robot-studio-abb
https://www.geoplm.com/knowledge-base-resources/GEOPLM-Siemens-
PLM-Tecnomatix-Robcad.pdf
https://en.wikipedia.org/wiki/Rapid_prototyping#:~:text=Rapid
%20prototyping%20is%20a%20group,%22additive%20layer
%20manufacturing%22%20technology.
https://new.abb.com/products/robotics/application-equipment-and-
accessories/material-handling-equipment
https://new.abb.com/products/robotics/application-equipment-and-
accessories/spot-welding-equipment
https://new.abb.com/products/robotics/applications-by-industry/robot-
welding