Tutorial Robot

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Revision as of 07:32, 14 May 2016 by Renatorivo (talk | contribs)
Tutorial
Argomento
Robot Workbench
Livello di difficoltà
Base
Tempo di esecuzione
Autori
r-frank
Versione di FreeCAD
0.16.6703
Files di esempio
Vedere anche
Nessuno

Questo tutorial serve per spiegare come usare l'ambiente Robot per simulare il set-up di una cella robotizzata.

Premessa

Questo tutorial è scritto per FreeCAD versione 0.16.6703 o superiore. Quindi, se non avete FreeCAD sul computer andate alla pagina Download e installatelo.

Questo tutorial è finalizzato all'uso di industrial robots e non di robot mobili o di servizio (vedere 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. Change to axonometric view by clicking on
  5. Zoom to fit all by clicking on File:View-zoom-all.svg
  6. 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. Create a new trajectory by clicking on
  4. Select the robot in the tree view
  5. Set home position for robot by clicking on
  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 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
  3. Click on Play-Button I>
  4. Watch simulation