Robot tutorial
 Tutorial
|
| Topic |
|---|
| Robot Workbench |
| Level |
| Beginner |
| Time to complete |
| Authors |
| r-frank |
| FreeCAD version |
| 0.16.6703 |
| Example files |
| See also |
| None |
Este tutorial te mostrará cómo utilizar el Entorno de simulación de Robots para simular la configuración de una célula de un robot.
Antes de empezar
Este tutorial está escrito para FreeCAD Versión 0.11 R3977 o superior. Así que si no tienes FreeCAD en tu equipo ve a la página de Descargas y haz la instalación.
El objetivo de este tutorial es el uso de robots industriales y no móbiles o robots de servicio (mira aquí).
Setting up the scene
- Switch to the Robot Workbench
- Create a new document by choosing File → New from the top menu
- Insert a Kuka IR500 robot into the scene by choosing Robot → Insert Robots → Kuka IR500 from the top menu
- Change to axonometric view by clicking on
- Zoom to fit all by clicking on File:View-zoom-all.svg
- Save your file ...
Setting up a trajectory
- Switch to the Robot Workbench
- Activate the model-tab in the tree view by clicking on it
- Create a new trajectory by clicking on
- Select the robot in the tree view
- Set home position for robot by clicking on
- Switch to the Task Panel
- By using the sliders change robot position
- When robot and trajectory are selected in tree view clicking on
will insert the way-point in the trajectory - Each way-point is shown with a yellow cross, the waypoints are connected with orange lines
- Define at least three different way points and insert them in the trajectory
Simulating robot movement
- Select robot and trajectory in tree view
- Select simulation by clicking on
- Click on Play-Button I>
- Watch simulation
