Robot tutorial

    From FreeCAD Documentation
    Freecad.svg Tutorial
    Robot Workbench
    Time to complete
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    Example files
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    This tutorial is here to teach you how to use the Workbench Robot.svg Robot Workbench to simulate a robot cell set-up.

    Robot Tutorial RobotSimulation.gif

    Final result of this tutorial

    Before you begin

    This tutorial is written for FreeCAD Version 0.16.6703 or higher. So if you don't have FreeCAD on your computer go to the Download page and do the installation.

    This tutorial is targeting on the use of industrial robots and not mobile or service robots (see wikipedia's entry on modern robots).

    Setting up the scene

    1. Switch to the Workbench Robot.svg Robot Workbench
    2. Create a new document by choosing File New from the top menu
    3. Insert a Kuka IR500 robot into the scene by choosing RobotInsert RobotsKuka IR500 from the top menu
    4. Change to axonometric view by clicking on the View-axometric.svg button
    5. Zoom to fit all by clicking on Std ViewFitAll.svg FitAll button
    6. Save your file ...

    Setting up a trajectory

    1. Switch to the Workbench Robot.svg Robot Workbench
    2. Activate the model-tab in the tree view by clicking on it
    3. Create a new trajectory by clicking on the Robot CreateTrajectory.svg Robot CreateTrajectory button
    4. Select the robot in the tree view
    5. Set home position for robot by clicking on Robot SetHomePos.svg Robot_SetHomePos
    6. Switch to the Task Panel
    7. By using the sliders change robot position
    8. When robot and trajectory are selected in tree view clicking on Robot InsertWaypoint.svg Robot InsertWaypoint will insert the way-point in the trajectory
    9. Each way-point is shown with a yellow cross, the waypoints are connected with orange lines
    10. Define at least three different way points and insert them in the trajectory

    Simulating robot movement

    1. Select robot and trajectory in tree view
    2. Select simulation by clicking on Robot Simulate.svg Robot Simulate
    3. Click on Play button
    4. Watch simulation