机器人工作台

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This page is a translated version of the page Robot Workbench and the translation is 21% complete.
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The Robot Workbench is unmaintained. If you have experience with the topic and are interested in maintaining it, please state your intention in the developer's section of the FreeCAD forum.

The reason this workbench is still in the master source code is because this workbench is programmed in C++. If this workbench could be programmed in Python, then it could be made an external workbench and it could be moved to a separate repository.


Introduction

Robot workbench icon

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.

Robot Workbench example.jpg

工具

这里提供了设置机器人的主要命令。

机器人

创建和管理六轴机器人的工具

轨迹

创建和操作轨迹的工具。分为两种:参数性的和非参数性的。

非参数性轨迹

参数性轨迹

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