choosing tool mechanism attach link

xeratule

Hi all,

I try to create a tool mechanism which is a gripper. When the gripper grips the object it must rotate the part. (There is a servo motor at the gripper to do the rotational move)

Link 1 => gripper base part

Link 2 => gripper rotational part

I use the event manager to do the attach & detach jobs. When the object is attached to the gripper it attaches to the gripper base, not to the rotational part. But I want it to be attached to the rotational part so that the object also does rotational movement when gripper gets in a rotational pose. How can I achieve that?

Thanks in advance

Erhan KUS

Henrik Berlin

Hi,

The key is to model your tool as 'Device' in the Mechanism modeler. Then you will be able to select the frame in the Event Manager.



I made an example and created a movie from it:
http://youtu.be/ParEOgQbLyI?hd=1

Here the station itself:
webwiz/772/MechModelTest_rspag.zip

xeratule

Thanks Henrik, yes the simulation is parallel to my request.(However I can't open the station because of some version mismatches I think) How do we select the proper link to attach in the event manager? Whatever I do it connects to the base link. If I select base link as the rotational part then the program gets stuck and closes itself, so I can't create mechanism like that...

It always attaches to the base link and I can't see any choice to select.

xeratule

In mechanism modeler when I create frame and bind it to the rotational part link instead of the base part, the attached object start to connect to the rotational part. That solved my problem. Thanks Henrik.