[AaronDK]

Hi, is it possible to use a tool that has a curved face, and roll it across a flat object to pick it up with vacuum?
And stage the vacuum to come on at various points of the pickup & place?

[Olivier]

It is possible, but it require some work on the CAD program side.

1. Place your TCP at the center of the tool diameter.
2. Create a line with a offset from the surface that is equal to the tool radius.
3. Create a "fake surface" that is tangential to the line with the shape of an ellipse (see pictures).
4. Select both the line and the "fake surface" and import them to RoboDK with the plugin.


Note : The small diameter of the ellipse is equal to "Tool radius*PI" and the big diameter of the ellipse is equal to "Tool radius*2*PI".
This will only work on flat surfaces.