Moving link with robot

Robot Programming
1

Joint moved
Joint moved1011×680 110 KB

Robot moving joint_1
Robot moving joint_11033×568 87.2 KB

Hi there,

I´m new here and I have a question regarding robots moving links, I haven´t found any topics about it here, I hope you can help me :slight_smile:

I have a robot with a tool and a conveyor that has several links with different joints. This links can be turned up at 90° to open the next layer of the conveyor.

I wanna do the following thing right now:

  • Robot moves with it´s tool in the eyelet of the first link (see picture)
  • Now I´ve created the path for the robot to turn the link around the joint (see picture 2)
  • My problem here: The joint (first layer) is not moving with the robot. I know that I can create a servo control to move the joint, but that´s not what I wanna do.
  • I want to have it realistic, that the bolt of the robot tool is touching the surface of the eyelet and the geometry of the link is moving with the robot tool. I just want to have it realistic, that the link is doing what it would do in reality.

I hope you can understand and help me, I have no clue how to do that.

Many thanks in advance! :wink:

2

VC doesn’t really have support for such kinematic interactions where joints move based on some constraints. The kinematic structure is just a tree and anything else needs to be modeled using hand-written joint value math.
You could try doing it with the physics engine but likely it will cause a bunch of frustration, especially if your geometries are not made of simple convex meshes.

3

you can use a base of the robot and attach the base to your link:

grafik
grafik1917×535 188 KB

when the robot has reached the position with this base, then the robot sends a signal to the component. the joint should rotate and the robot follows.

4

That´s a very clever solution, thank you for that. I tried it but encountered one problem:

image
image979×837 211 KB

It is working but the top position is out of the reach. Within the motion of the joint my robot tool has to turn around the red axis, around the bolt in the eyelet…

Any idea how I could do this?

1 Like
5

you could create another link and the base is attached to this:

grafik

the second link is in the first link and could be defined as follows - custom-jointType. See the feature block in the link is always horizontal. Consequently, the mountplate of the robot is also horizontal. compare the position of the mountplate in the following picture and in the picture from my first post.

grafik
grafik1918×620 165 KB

1 Like
6

That´s a very genius idea, it worked pretty good!

Thank you very much for your help, now it´s working exactly like I wanted it to! :grin: