Hello
I am in the process of integrating a robot into a machine.
I respected the movements allowed by the robot manufacturer. The problem is that I have been told about angles not to be on the same plane . I am lost on this point.
Anyone know anything about manipulative arms?
Thank you
Hello
Can you give the manufacturer reference because it depends on the number of degrees of freedom of your arm because 3 axes or 5 axes are not the same thing.
Kind regards
Here is the ref: rs020nfe01 from kawasaki
@wilfried-Martin
Could you clarify this a little [[ The problem is that I have been told about angles that are not on the same planes . ]]
Is it in the doc or a verbal expression of a person?
In the doc you normally have the Working range with a cardioid-shaped drawing that indicates the areas covered as well as the central white area that indicates the areas inaccessible by the end of the arm (in abstracto of the tools or assembly at the end of the arm (or in case of using a wrist motor).
You know, you are on a forum specialized in the SolidWorks software and in principle we are not intended to answer any industrial question. Even if you are probably very nice :-)
If you speak English or American, you have this site that has specialists in the subject. There may be some in french but I don't know them (maybe gogole ???)
Kind regards
PS: @tous here is the beast in action
I think that this axis alignment problem concerns the programmer more than the mechanical integrator.
The "working range" is usually provided with the 3d of the robot.
In general, you should avoid having two aligned axes at some point (what is called a singularity point).
To check, it is often necessary to carry out an implant and have your roboticist check whether he is equipped with the software for this check.
Or have the robot supplier do this check.
This is the procedure used internally for ABB, Kuka or other robots.
Hello @sbadenis
Thank you for sharing your knowledge but as our young colleague does not seem to have very extensive knowledge: could you give a very brief example because his robot is 6 axes, right!
Because at any time in use two axes can be in the non-recommended position, in this case what happens ;-)
Kind regards
I'm not a roboticist just at the Be too, but basically from memory when 2 axes are aligned the robot mixes the brushes (at the program level) and doesn't know how to turn anymore.
This can sometimes not be a big deal if you only pass through this point during the trajectory but on the other hand if you find yourself in this singularity at the time of taking or taking down, all you have to do is move your robot or your pick and/or drop, which is problematic.
Attached sample video for the demo:
https://www.youtube.com/watch?v=zlGCurgsqg8
On the other hand, a piece of advice in any case has to check the position of your robot and take it down because too much risk of being in the singularity points otherwise and there you have won everything! The only way is with the manufacturer's software or otherwise live with the robot if you have it.
@sbadenis Thank you for the video, it's very self-explanatory :-) ;-) We don't learn a lot about it here
Hello
Thank you all for your help. Now I understand the consequences much better =D
Indeed, my roboticist explained to me that it doesn't work when there are singularity point(s), but he didn't really know why XD. Do you know if we can check these points with solidworks?
Apparently, this is especially important if your robot needs to follow a precise trajectory at a set speed.
If your use is manipulation (for example), your roboticist or the robot's software should be able to avoid these situations, unless it corresponds to a useful position of the machine and it is at the limit of range.
Good evening @wilfried-martin
If I were you, I would stick to the advice recommendations of @sbadenis because with solidworks there is no function provided for this purpose. And given the complexity of the movements in general, the manufacturer's software is designed to alert you.
But behind your concern I have the impression that you want to animate your robot under solidworks. In this case , you can ignore the singularity points since the constraint animation mode always does what you specify without it being shuffled.
On the other hand, not everything you do under SW will be transposable or exportable to the Robot.
With SW this allows you to do everything around the robot and ensure that you avoid to do which is practical as long as the robot is not implanted to do all the auxiliary supports and safety enclosures.
It all depends on what you are really looking for, otherwise say what purpose you are aiming for!
Kind regards