How to create Robot as a mechanism type

jacekbranka

Hello everybody. Im struggle with creating new mechanism as a robot type. I have no problems wth setting joints frames calibration etc and compile the mechanism. But the problem is that i cant move this robot mechanism in linear jog. I need to do movement in linear way not in joint.

Can somebody help me how to add mechanism linear jog ?

NFC

Ciao,

surely this is one of those little silly things you forgot, that it is better to review all mechanism creation from beginning if you agree.

It's also a good exercise for other interested forum users that want to do it...

 

Just open the station in attachment: inside you'll find a simple robot with 1 linear axis and parts to model it by yourself by following step by step instructions below.

webwiz/2970/Robot_Modelling_RS_5_14.zip

 

Open the station

1)Starting the Mechanism modeller
Modelling -> Create Mechanism

Ensure to have selected "Robot" as "Mechanism Type"

2)Links definition
Right Click on Links -> Add Link

Link Name -> Base
Select Part -> Basement
Select "Set as BaseLink" checkbox
Click on the Green Arrow so that "Base" appears in Added Parts list

Click on OK button to continue with next step

3)Joints definition
Link name -> L1
Select Part -> Slider
Click on the Green Arrow so that "Slider" appears in Added Parts list

Click on CANCEL button to end Link definition and return to Mechanism modeller

Right Click on joints -> Add Joint
Joint Name -> J1
Joint Type -> Prismatic ...THIS ONE IS FOR LINEAR!
Parent Link -> Base (BaseLink)
Child Link -> L1
Joint Axis ->

Here a vector have to be defined
To make it really short for a movement along X axis choose First 0 0 0 / Second 1 0 0
along Y axis choose First 0 0 0 / Second 0 1 0
along Z axis choose First 0 0 0 / Second 0 0 1

Use "Jog Axis" slider to play and see how it behaves... IF HERE IT WORKS HAVE TO WORK ALSO AFTER COMPILING.

Once understood how it works, it is even possible to select a vector passing via two points by selecting those points by using a snap method directly in the graphic area... But this is another chapter...

For now just select First 0 0 0 / Second 1 0 0;

Click on APPLY button and the on CANCEL  button to return to Mechanism modeller

4)Frames definition
Right Click on Frames -> Add Frame
Here you define a frame, for Tool attachment for example...
Just set Position 200 0 175 and Orientation 0 90 0
Click on OK button to return to Mechanism modeller

5)Calibration definition
Right Click on Calibration-> Add Calibration

This I never understood myself...

Just select J1 and press OK button

6)Compile mechanism

Press Compile Mechanism button.
NOTE sometimes this button is not visible because is hidden by Output /Simulation ribbon...

Good LUCK,

Nils.

mymach

Thanks...

mymach

compile mechanism button is not visible just like you said but how can ? make it visible  sorry for newbei questions..
Thanks

Anders S

If you undock and expand the "Mechanism Window" you will see the combile button.

mymach

Thanks

Klaus

Yes.

We Could use a vertikal scroll bar i create mechanism soo we could scroll down to compile button 

jsmith7

Thanks very much for posting this. I had similar problems. jsmith72011-05-26 08:45:10