[tara8552]

I am hoping someone can direct me on how to perform the following task. I have an stl of a mechanism that I would like to attach to link 3 of my robot, so it will only move when joints 1-3 move. The goal would be to see if it will make contact with anything in the station. I have brought the mechanism into robodk and positioned it where I want to position it (see blue mechanism in attached image), but I do not know how to attach it to link 3 (or joint 3). Can I establish a reference frame on a robot joint and link it that way? Thanks!