[Seth]

Hi

我有库卡1500公里(机器人不是在图书馆)step file and I want to use it to bring object/workpiece to my other robot. I just want some basic movements (X Y translations )from KMP 1500.

when I insert it, it is inserted as an object, for which I could not figure out a way to make it move on a certain trajectory. Is there any way to move it from the software or using python api?

I am attaching the link, photo and the step file of the robot.

Link Photo

[DavidG]

Hey Seth,

I think you are looking for this:

//www.sinclairbody.com/doc/en/Model-Mechanism.html

[Jeremy]

Hi Seth,

DavidG is right.
You can create yourself a 2 linear axis mechanism and move your KMP 1500 using the axis positions.

Have a great day.
Jeremy

[Seth]

Thanks, DavidG and Jeremy for your response. Yes, I have succeeded to make the 2 linear axis mechanism to the robot and it is working fine. However, I must apologize for being greedy but, is there any way where I can have 1 or 2 linear axis and 1 rotative axis to this robot? I could not figure that out. I tried saving it as a 1 linear axis robot and then add 1 rotative axis(and vice versa) to it using the same method but it did not work.

I would appreciate your suggestions.

[Jeremy]

I'm not certain that I completely understand your question.

But I believe you want to be able to move X and Y (2 linear axis like you already did) and to rotate Z.
To do that you just need to stack a rotative axis on top of the linear one. You global mechanism will be composed of two different mechanisms, the linear one and the rotative one.

Hope it helps.
Jeremy

[Albert]

Hi Seth,

You can stack multiple mechanisms together if you drag & drop them inside the tree. There's no limit regarding the number of axis you can stack together. On the other hand, you'll be able to synchronize up to 2 additional mechanism units and the robot can be attached to one of these 2 (such as an X-Y-Theta mechanism, a 1, 2 or 3 axis linear axis as one mechanism). The other unit can be used as a 1 axis or 2 axis turntable for example.

If you want to model a mobile platform you should not have any issues modelling it as a 2 axis mechanism. If you want the rotation as well (such as a 3-axis X-Y-Theta) you can model and attach an additional 1 rotational axis or we can model the X-Y-Theta for you (a RoboDK Professional license is required).

Another option is to fully implement this behavior using the API.

Albert

[Seth]

It is very helpful. Thank you so much, I really appreciate it.