Modeling cartesian manipulator with two arms

Component Modeling
1

Hi!

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)

2

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 .

3

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?