Robot tutorial: Difference between revisions

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|Level= Beginner
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|Author=r-frank
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== Before you begin == <!--T:2-->
== Before you begin == <!--T:2-->
This tutorial is written for FreeCAD Version 0.14.3700 or higher. So if you don't have FreeCAD on your
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.
computer go to the [[Download]] page and do the installation.


<!--T:3-->
<!--T:3-->
This tutorial targeting on the use of [http://en.wikipedia.org/wiki/Industrial_robot industrial robots]
This tutorial is targeting on the use of [http://en.wikipedia.org/wiki/Industrial_robot industrial robots]
and not mobile or service robots (see [http://en.wikipedia.org/wiki/Robot#Modern_robots here]).
and not mobile or service robots (see [http://en.wikipedia.org/wiki/Robot#Modern_robots here]).

<!--T:5-->
==Setting up the scene==
#Switch to the [[Robot Workbench]]
#Create a new document by choosing {{KEY| File }} → {{KEY| New }} from the top menu
#Insert a Kuka IR500 robot into the scene by choosing {{KEY| Robot }} → {{KEY| Insert Robots }} → {{KEY| Kuka IR500 }} from the top menu
#Switch to [[Part Workbench]]
#Insert a box into the scene by clicking on [[Image:Part_Box.png|32px]]
#Change size of box by
##selecting it in the tree view
##change to data-tab in property view
##change Length to be 1000 mm
##change Width to be 1000 mm
##change Heigth to be 1000 mm
#Change position of box by
##selecting it in the tree view
##clicking into the value-tab of placement in the property view
##clicking on {{KEY| ... }}
##change x-positon to 1500 mm
##change y-positon to -500 mm
##click on {{KEY| OK }} to apply values
#Change to axonometric view by clicking on [[Image:View-axometric.svg|32px]]
#Zoom to fit all by clicking on [[Image:View-zoom-all.svg|32px]]
#Save your file ...

<!--T:6-->
==Setting up a trajectory==
#Switch to the [[Robot Workbench]]
#Activate the model-tab in the tree view by clicking on it
#Select the robot in the tree view
#Set home position for robot by clicking on [[Image:Robot_SetHomePos.png|32px]]
#
#Todo
#

<!--T:7-->
==Simulating robot movement==
#Select robot and trajectory in tree view
#Select simulation by clicking on [[Image:Robot_Simulate.png|32px]]
#Click on Play-Button {{KEY| I> }}
#Watch simulation

<!--T:8-->
[[Image:Robot_Tutorial_Robot_Simulation.gif]]


<!--T:4-->
<!--T:4-->

Revision as of 12:25, 5 May 2016

Tutorial
Topic
Robot Workbench
Level
Beginner
Time to complete
Authors
r-frank
FreeCAD version
0.16.6703
Example files
See also
None

This tutorial is here to teach you how to use the Robot Workbench to simulate a robot cell set-up.

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 here).

Setting up the scene

  1. Switch to the 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 Robot Insert Robots Kuka IR500 from the top menu
  4. Switch to Part Workbench
  5. Insert a box into the scene by clicking on
  6. Change size of box by
    1. selecting it in the tree view
    2. change to data-tab in property view
    3. change Length to be 1000 mm
    4. change Width to be 1000 mm
    5. change Heigth to be 1000 mm
  7. Change position of box by
    1. selecting it in the tree view
    2. clicking into the value-tab of placement in the property view
    3. clicking on ...
    4. change x-positon to 1500 mm
    5. change y-positon to -500 mm
    6. click on OK to apply values
  8. Change to axonometric view by clicking on
  9. Zoom to fit all by clicking on File:View-zoom-all.svg
  10. Save your file ...

Setting up a trajectory

  1. Switch to the Robot Workbench
  2. Activate the model-tab in the tree view by clicking on it
  3. Select the robot in the tree view
  4. Set home position for robot by clicking on
  5. Todo

Simulating robot movement

  1. Select robot and trajectory in tree view
  2. Select simulation by clicking on
  3. Click on Play-Button I>
  4. Watch simulation

File:Robot Tutorial Robot Simulation.gif