A pick-and-place robot for coffee capsules: virtualization and trajectory design

Even if Virtual Commissioning is not widely spread among industries yet, it offers plenty of advantages for the manufacturing of productive plants, that consist of reduced commissioning time, optimization of the code, better synergy between mechanical and software design. However, due to the cost of the requested investments, only big firms employ it in their production processes. This work aims at providing an example of how Virtual Commissioning can be applied to an automatic machine and how it can be used to improve the kinematic behaviour of two degrees of freedom manipulator, that moves coffee capsules into carton boxes. In particular, the simulations deal with the modifications of the parameters of the current trajectory and the test of a different kind of path for the robot, paying attention to collisions with the other parts of the machine.