Hello,
I am trying to model a Gripper that has a rotating functionality (not the robot) where the fingers would be subjoints of the rotary link, but i couldn’t find any eCatalog Gripper with the same patttern.
I already tried creating a rotating joint with the fingers as subjoints but the grasping didn’t work.
Also I would like to know how does such model affect the work of the Robot Controller.
Thank you.
Hi Tilma . Thanks for the reply.
In my case the the gripper is a 2 Fingers gripper where the TCP should change by each rotation.
gripper_without_rotation.vcmx (3.4 MB)
while the TCP seems to rotate with the gripper rotation, the picked part doesn’t
If you can share a demo file directly, please do. Only providing a clip and claw file makes the problem difficult to find.
Hello.
Could you please check the VCMX attached below?
I made it based on what you said.
It is available in version 4.10.
P.s
The finger motion is implemented, but it is not put in the simulation (robot motion).
example_Tool_Rot.vcmx (8.2 MB)
Hello HyeokcheolKwon. Thanks a lot for the reply and the effort.
i added your gripper to an example flow similar to what i am trying to implement to make the issue clearer. The robot picks the part (productType or Assembly) from one process node and should place it on another process node rotated 90° or another specific angle i would get as a signal and the rotation of both the gripper and part should happen in between.
example_flow.vcmx (20.8 MB)
If it were me, I would choose to change the robot Flow to execute a specific routine and then fine tune it. Right now the situation looks like this, you don’t have a rotation axis defined in your gantry, and the tooling doesn’t expose this rotation axis to the robot controller via an interface, so the robot scheduling doesn’t really know how to use this axis.
The general rotary axis options are cylinders and servos, more like servos by your meaning, so you either expose it to the robot as an external axis, or you consign the rotation to some other process with PLC control logic.
You can tune Flow to trigger the rotation via IO control after executing a specific routine, and use other processes (Process, Python Script) to control the rotation.
