Correct kinematic model for tilt table

Marcel

Hi

For offline programming we need to have our turning and tilting table with the correct kinematic model. The Table axis for tilting has 0 degrees if horizontally and 90 degrees if vertically. The problem is the tilting drive mechanism. A spindel (dark green) is transforming the linear movement into a rotating movement for the tilting mechanism. This construction has a fault in the linearity if we define the tilting device as rotational device. It differs in some positions by 2 degrees to the real construction. How can we define the dependencies for the links, axis ... in the kinematic modeler so that the linar spindel drives the tilt mechanism like in reality? The geometry files are attached in the zip archive.

Thank you for help.

 

webwiz/1266/TurnTiltTable.zip

 

Best regards

Marcel

Henrik Berlin

Please find the attached kinematic model. This zip is identical to the above but contains an .rsxml file that defines the kinematics. This mechanism is of closed-loop type and cannot be modeled in a straight-forward way in RobotStudio. RobotStudio is primarily designed to model open-loop kinematics. However, by working out the mathematical dependencies for the joints it is possible to model it in RobotStudio by using so-called "Dependencies". For this particular case the Law of Cosines was useful to work out the equations (http://en.wikipedia.org/wiki/Law_of_cosines). Check the .rsxml file for details.

webwiz/772/TurnTiltTablev2.zip

 

To create the mechanism in RobotStudio, select Import Library-> Browse for Library and switch to the .rsxml filter in the Open dialog to see the .rsxml file. When the model is created, it can be saved as a Library.

 

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Henrik Berlin2011-02-10 15:33:04

Marcel

Hi Henrik

Thank you very much.  It's working perfect.

 

Best regards

Marcel

Marcel

Hi

 

Is there any documentation about the kinematic definition in a rsxml-file? I need to define positions.

 

Best regards

Marcel