机器人工作台
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Since version 1.1 this workbench is disabled by default. See Workbenches.
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Introduction
机器人工作台是一个用于模仿工业 Robot 6-Axis 的工具,就像 Kuka。 用它可以完成以下任务:
- 用机器人和工件设立一个模拟环境
- 创建和填补轨迹
- 将一个 CAD 零件的特征分解为轨迹
- 模拟机器人的运动及其可达性
- 将轨迹导出为机器人程序文件
You can do the following tasks:
- Set up a simulation environment with a robot and work pieces.
- Create and fill up movement trajectories.
- Decompose features of a CAD part to a trajectory.
- Simulate the robot movement and reaching distance.
- Export the trajectory to a robot program file.
你可以从这儿找到例子: Example files 或者去参考 Robot tutorial.
Tools
Robot toolbar
Place Robot: Places a robot in the model.
Trajectory: Creates an empty trajectory.
Insert in Trajectory: Inserts a robot tool position into a trajectory.
Insert in Trajectory (vertex): Inserts a preselected position into a trajectory.
Edge to Trajectory: Generates a trajectory from selected edges.
Dress-Up Trajectory: Creates a dress-up object that overrides aspects of a trajectory.
Trajectory Compound: Groups and connects multiple trajectories into one.
Set Home Position: Sets the home position of a robot.
Move to Home: Moves a robot to its home position.
Simulate Trajectory: Simulates robot movement along a selected trajectory.
Other tools
- Insert Robot:
Tool: Adds a tool shape to a robot.
- Set Default Orientation: Sets the default orientation for subsequent waypoint creation.
- Set Default Values: Sets the default values for speed, acceleration, and continuity for subsequent waypoint creation.
- Export Trajectory:
Kuka Compact Subroutine: Exports a trajectory as a compact KRL subroutine.
Kuka Full Subroutine: Exports a trajectory as a full KRL subroutine.
脚本编程
本节是由 https://github.com/FreeCAD/FreeCAD_sf_master/blob/master/src/Mod/Robot/RobotExample.py 产生出来的,你可以直接使用这个文件。
See the Robot API example for a description of the functions used to model the robot displacements.
Tutorials
- Robot toolbar: Place Robot, Trajectory, Insert in Trajectory, Insert in Trajectory (vertex), Edge to Trajectory, Dress-Up Trajectory, Trajectory Compound, Set Home Position, Move to Home, Simulate Trajectory
- Export tools: Kuka Compact Subroutine, Kuka Full Subroutine
- Other tools: Tool, Set Default Orientation, Set Default Values
- Getting started
- Installation: Download, Windows, Linux, Mac, Additional components, Docker, AppImage, Ubuntu Snap
- Basics: About FreeCAD, Interface, Mouse navigation, Selection methods, Object name, Preferences, Workbenches, Document structure, Properties, Help FreeCAD, Donate
- Help: Tutorials, Video tutorials
- Workbenches: Std Base, Assembly, BIM, CAM, Draft, FEM, Inspection, Material, Mesh, OpenSCAD, Part, PartDesign, Points, Reverse Engineering, Robot, Sketcher, Spreadsheet, Surface, TechDraw, Test Framework
- Hubs: User hub, Power users hub, Developer hub