+- RoboDK Forum (//www.sinclairbody.com/forum)
+-- Forum: RoboDK (EN) (//www.sinclairbody.com/forum/Forum-RoboDK-EN)
+--- Forum: General questions about RoboDK (//www.sinclairbody.com/forum/Forum-General-questions-about-RoboDK)
+——线程:我可以一步文件移动像莫bile platform like KUKA KMP 1500? (/Thread-Can-I-make-a-step-file-move-like-a-Mobile-platform-like-KUKA-KMP-1500)
Can I make a step file move like a Mobile platform like KUKA KMP 1500?-Seth-04-04-2019
Hi
I have KUKA KMP 1500(robot is not in the library) 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.
LinkPhoto
RE: Can I make a step file move like a Mobile platform like KUKA KMP 1500?-DavidG-04-04-2019
Hey Seth,
I think you are looking for this:
//www.sinclairbody.com/doc/en/Model-Mechanism.html
RE: Can I make a step file move like a Mobile platform like KUKA KMP 1500?-Jeremy-04-04-2019
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
RE: Can I make a step file move like a Mobile platform like KUKA KMP 1500?-Seth-04-04-2019
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.
RE: Can I make a step file move like a Mobile platform like KUKA KMP 1500?-Jeremy-04-05-2019
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
RE: Can I make a step file move like a Mobile platform like KUKA KMP 1500?-Albert-04-05-2019
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
RE: Can I make a step file move like a Mobile platform like KUKA KMP 1500?-Seth-04-05-2019
It is very helpful. Thank you so much, I really appreciate it.