RoboticCell
type: Ontology
imports: factory
license: CC BY-NC 4.0
creator: Walter Terkaj
comment: If you wish to use this ontology, please acknowledge Walter Terkaj (CNR-STIIMA) and related publications. For any query please write to walter.terkaj(at)stiima.cnr.it.

Hinge descr
type: NamedIndividual
type: IfcText
has string: hinge

Hinge extref
type: NamedIndividual
type: IfcURIReference
has string: HingeWing.glb

PalletStorage.1 duration
type: NamedIndividual
type: IfcDuration
has string: P1D

PalletStorage.1 relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 200 19000 0

RoboticCell descr
type: NamedIndividual
type: IfcText
has string: Assembly line. An assembly system consists of facilities that are utilized for the assembly of a product or products, characterized by rigid or loose chaining of individual assembly work stations. An assembly line is a specific class of assembly systems where several work stations are linked together according to the sequence of operations required. Hence, the routing of the parts and the sequence of operations is given. This assembly line is devoted to the assembly of a hinge for furniture.

WS1.Buffer1 relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 162 -71.2 248
has rotation matrix: -2.679489658502291e-8 0.9999999999999997 -1.7512870914508165e-14; 0.9999999999997861 2.6794896585028633e-8 6.535897930762417e-7; 6.535897930762419e-7 0 -0.9999999999997864

WS1.Buffer2 relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 162 -122.2 248
has rotation matrix: -2.679489658502291e-8 0.9999999999999997 -1.7512870914508165e-14; 0.9999999999997861 2.6794896585028633e-8 6.535897930762417e-7; 6.535897930762419e-7 0 -0.9999999999997864

WS1.Buffer3 relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 162 -173.2 248
has rotation matrix: -2.679489658502291e-8 0.9999999999999997 -1.7512870914508165e-14; 0.9999999999997861 2.6794896585028633e-8 6.535897930762417e-7; 6.535897930762419e-7 0 -0.9999999999997864

WS1.Buffer4 relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 162 -224.20000000000002 248
has rotation matrix: -2.679489658502291e-8 0.9999999999999997 -1.7512870914508165e-14; 0.9999999999997861 2.6794896585028633e-8 6.535897930762417e-7; 6.535897930762419e-7 0 -0.9999999999997864

WS1.Buffer5 relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 162 -275.2 248
has rotation matrix: -2.679489658502291e-8 0.9999999999999997 -1.7512870914508165e-14; 0.9999999999997861 2.6794896585028633e-8 6.535897930762417e-7; 6.535897930762419e-7 0 -0.9999999999997864

WS1.Buffer6 relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 162 -326.2 248
has rotation matrix: -2.679489658502291e-8 0.9999999999999997 -1.7512870914508165e-14; 0.9999999999997861 2.6794896585028633e-8 6.535897930762417e-7; 6.535897930762419e-7 0 -0.9999999999997864

WS1.Conveyor extref
type: NamedIndividual
type: IfcURIReference
has string: Wing_Conveyor_2_Station.glb#WC2_Conveyor

WS1.Conveyor relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 72 0 0

WS1 descr
type: NamedIndividual
type: IfcText
has string: A handling device for picking up an item, moving it and placing it in another location. Such devices are usually mechanically driven and follow a fixed sequence of motions.

WS1 extref
type: NamedIndividual
type: IfcURIReference
has string: Wing_Conveyor_2_Station.glb

WS1 relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: -71.5 -3618.95 0
has rotation matrix: -3.4914813388431334e-15 1 0; -1 -3.4914813388431334e-15 0; 0 0 1

WS2.Conveyor extref
type: NamedIndividual
type: IfcURIReference
has string: UR_Pick_and_Place_Station.glb#Conveyor_Main

WS2.Conveyor relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 0 0 0

WS2.EndEffector extref
type: NamedIndividual
type: IfcURIReference
has string: UR_Pick_and_Place_Station.glb#UREndEffector

WS2.EndEffector relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 0 -38 0

WS2.Gripper1 extref
type: NamedIndividual
type: IfcURIReference
has string: UR_Pick_and_Place_Station.glb#URgripper1

WS2.Gripper1 relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 0 -40 -12.7

WS2.Gripper2 extref
type: NamedIndividual
type: IfcURIReference
has string: UR_Pick_and_Place_Station.glb#URgripper2

WS2.Gripper2 relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 0 -40 14.299999999999999

WS2.PalletPosition relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 0 55.55 230

WS2.Robot extref
type: NamedIndividual
type: IfcURIReference
has string: UR_Pick_and_Place_Station.glb#URPPs_Robot

WS2.Robot relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: -330 -12.5 0

WS2.Workholding relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: -5.85 -98 2
has rotation matrix: 1.091574325590497e-8 0.06894527848796898 0.9976204431416871; 0.04158063855171939 -0.9967576523968643 0.06888565079842916; 0.9991351512671502 0.04148169430614254 -0.0028667995850064944

WS2.base extref
type: NamedIndividual
type: IfcURIReference
has string: UR_Pick_and_Place_Station.glb#URbase

WS2.base relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 0 0 0

WS2.link1 extref
type: NamedIndividual
type: IfcURIReference
has string: UR_Pick_and_Place_Station.glb#URjoint1

WS2.link1 relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 0 0 86.05000000000001
has rotation matrix: 0.6670531711922226 -0.7450101118792948 0; 0.7450101118792948 0.6670531711922226 0; 0 0 1

WS2.link2 extref
type: NamedIndividual
type: IfcURIReference
has string: UR_Pick_and_Place_Station.glb#URjoint2

WS2.link2 relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 0 -54 65.85
has rotation matrix: 0.8775825618903728 0 0.479425538604203; 0 1 0; -0.479425538604203 0 0.8775825618903728

WS2.link3 extref
type: NamedIndividual
type: IfcURIReference
has string: UR_Pick_and_Place_Station.glb#URjoint3

WS2.link3 relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 0 -23.599999999999998 243.64999999999998
has rotation matrix: -0.45663013462360375 0 -0.8896566304780904; 0 1 0; 0.8896566304780904 0 -0.45663013462360375

WS2.link4 extref
type: NamedIndividual
type: IfcURIReference
has string: UR_Pick_and_Place_Station.glb#URjoint4

WS2.link4 relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 0 8 213
has rotation matrix: 0.13042370873814554 0 -0.9914583481916864; 0 1 0; 0.9914583481916864 0 0.13042370873814554

WS2.link5 extref
type: NamedIndividual
type: IfcURIReference
has string: UR_Pick_and_Place_Station.glb#URjoint5

WS2.link5 relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 0 -40.8 42.599999999999994
has rotation matrix: 0.6524374681640519 -0.757842562895277 0; 0.757842562895277 0.6524374681640519 0; 0 0 1

WS2.link6 extref
type: NamedIndividual
type: IfcURIReference
has string: UR_Pick_and_Place_Station.glb#URjoint6

WS2.link6 relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 0 -42.599999999999994 40.8
has rotation matrix: 0.059760698533809116 0 -0.9982127322924463; 0 1 0; 0.9982127322924463 0 0.059760698533809116

WS2 extref
type: NamedIndividual
type: IfcURIReference
has string: UR_Pick_and_Place_Station.glb

WS2 relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 200 -3500 0

default building relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 0 0 0

pallet.Workholding relplace
type: NamedIndividual
type: IfcAxis2Placement3D
has location: 0 -7.5 52

pallet descr
type: NamedIndividual
type: IfcText
has string: pallet

pallet extref
type: NamedIndividual
type: IfcURIReference
has string: Pallet.glb