Add extra links to scara bots

General Questions
1

Hello,

I am facing a problem when I added a tool with two links to the robot. one for rotation, another for picking.
When the tool is rotated, the defined TCP does not move with it．
so I want to add a new extra link for the rotation to scara robot (in picture 1). I want to use pythonkinematics to define this 5-axis robot.

Can you provide relevant tutorials or examples? Or is there any other way to solve it?
scaramitdrehteil
scara.vcmx (3.0 MB)

2

Hy,

the tool need it’s own toolContainer where the tool is glued to the rigth node.
With an OneToOneInterface the robot gets the tcp of the connected tool!

Regards
Feature

4

Hello,

as the picture shows，wenn tool is rotated, tcp does not move with it. the Item doesn’t follow rotation
tcp
how can i solve that problem? Like what I have done, I want to add a extra link to the robot

BTW, Can you provide relevant tutorials or examples? I want to learn, How to define a particular robot with python-kinematics.

Here is layout
scara.vcmx (5.3 MB)

5

https://academy.visualcomponents.com/?s=gripper

Look at some gripper from eCat and create your gripper like them, then everything will be alright!

Regards
Feature