Modeling cartesian manipulator with two arms


I need to model a manipulator that will be able to hold and move with two parts at once, but for some reason, when I teach robot a position, arm with Tool_2 (Link 4, Link 5) will not remember the position and instead it moves somewhere else. I double checked if I assigned all joints, but this was not the problem. Any help will be greatly appreciated.

manipulator.vcmx (64.4 KB)

Hi Horo,

First you should update your links position relevant to your geometry because all of your links are positioned in the components origin . Then, flange node and root node should also been updated accordingly in controller .

Hi Cetin!

Thanks for your response. I updated the links with offset so their axis are now where they should. Also what link should I set up as flange when I have two arms?