Autors: Bratovanov, N. G.
Title: SolidWorks Add-In for Motion Simulation, Layout Analysis and Collision Detection of Substrate Handling Robots
Keywords: motion simulation; layout analysis; collision detection; substrate handling robots; kinematic modeling; robot offline programming; SolidWorks add-in

Abstract: The paper is dedicated to the implementation of a tool for motion simulation, layout analysis and collision detection of substrate handling robots in the form of add-in for SolidWorks. The main goal is developing a system that allows the direct usage of standard SolidWorks robot 3D models for simulation, offline programming, analysis and optimization of automated cells, applicable in the field of semiconductor device manufacturing. The resultant system allows the simultaneous execution of design, simulation and evaluation activities, based on a single software platform, thus increasing productivity, saving time and reducing costs. The proposed add-in concept contributes to achieving a much more integrated appearance and behavior of the tool, enhancing its functionality, and eliminating issues associated with reliability and security.


  1. D. Liao, “Automation and Integration in Semiconductor Manufacturing,” Semiconductor Technologies, Chapter 3, pp. 39-59, April 2010
  2. M. Hosek, J. T. Moura, “Advanced Control Techniques for Semiconductor and Flat Panel Display Substrate Handling Robots,” Proceedings of the 17th World Congress, The International Federation of Automatic Control, pp. 6731-6738, July 2008
  3. N. Bratovanov, “Modeling, Simulation and Offline Programming of a Class of Robots, Applicable to Semiconductor Industry Automation,” Ph.D. Thesis, Sofia, Bulgaria, 2019
  4. N. Bratovanov, “Robot Modeling, Motion Simulation and Off-line Programming Based on SolidWorks API,” Third IEEE International Conference on Robotic Computing (IRC), vol.1, pp. 574-579, 2019
  5. “How to develop add-ins for SolidWorks automation via API,” Extracted on July 6, 2020, URL:
  6. S. Riyaz, “What’s the Difference between SolidWorks Macros, Add-Ins and Executables?,” Extracted on July 6, 2020, URL:
  7. K. Rice, “Macros vs Add-ins vs Stand-Alones,” Extracted on July 6, 2020, URL:
  8. L. Malpass, “SolidWorks 2009 API. Advanced Product Development,” AngelSix, 2008
  9. Y. He, J. Chen, J. Gao, C. Cui, Z. Yang, X. Chen, Y. Chen, K. Zhang, H. Tang, “Research on Motion Simulation of Wafer Handling Robot Based on SCARA,” 19th International Conference on Electronic Packaging Technology, pp. 734-739, August 8-11, 2018
  10. K. Mathia, “Robotics for Electronics Manufacturing Principles and Applications in Cleanroom Automation,” Cambridge University Press, 2010
  11. G. Genov, D. Todorov, “Universally Tiltable Z-Axis Drive Arm,” US Patent US5954840, June 13, 1996
  12. G. Genov, Z. Sotirov, E. Bonev, “Robot Motion Compensation System,” US Patent US6489741B1, August 1998
  13. N. Bratovanov, Z. Sotirov, V. Zamanov, “Mobility and Accuracy Analysis of a Class of Overconstrained Parallel Mechanisms,” Mechanics of Machines, ISSN 0861-9727, Year XXVI, issue 2, pp. 26–32, 2018


International Conference Automatics 2020, vol. 70, issue 1, pp. 29-39, 2020, Bulgaria, Proceedings of Technical University of Sofia, ISBN ISSN 1311-0829

Full text of the publication

Вид: публикация в международен форум