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Synchronization Of A Custom 4-Axis Mechanism And Robot

#1
Hi,

I would like to have a station with a 6-axis robot arm synchronized with a custom 4-axis gantry. The gantry consists of 3 linear axes (X,Y,Z) followed by a turntable (RZ). I am aware that this constellation is redundant because the first axis of the robot is also a rotational axis.
Nevertheless is it possible to achieve this somehow?
So far I tried to model an own mechanism but there is no option for a 4 axis gantry like mine. I also tried to build a mechanism chain consisting of the 'Gudel FP-6-300' mechanism from the online library followed by a self created turn table and the robot. The problem here is that the synchronization of the robot works either only with the Gudel mechanism or the turn table.
I have also attached my current station.


Attached Files
.rdk Test 4 Axis Gantry.rdk(Size: 1.39 MB / Downloads: 116)
#2
Hi,

Unfortunately, I don't think this is possible.
您无法创建定制机制and even if you did, you wouldn't be able to use the optimization algorithms of RDK with such setup.

Jeremy
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