Pregatire VRML pentru simularea robotului

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Revision as of 19:07, 13 August 2018 by Renatorivo (talk | contribs)
Tutorial
Topic
Robot Workbench
Level
Intermediate
Time to complete
Authors
FreeCAD version
Example files
See also
None


Acest tutorial explică modul de utilizare a FreeCAD și a Atelierului de simulare a robotului pentru a simula mișcările robotului serial cu 6 axe. Tutorialul se concentreaza pe crearea fișierului vrml utilizat ca vizualizare. Baza fișierului vrml este un model FreeCAD. Versiunea FreeCAD folosită este 0.11.4252ppa1 pe Ubuntu 32bit.

Deschideți un fișier sau creați unul cu FreeCAD

Tutorialul se bazează pe fișierul STEP al unui Stäubli TX40 (TX40-HB.stp). Puteți descărca fișierul de la Stäubli. Cu toate acestea, deși încă nu trebuie se verifică acest lucru, metoda ar trebui să se aplice și unui model freeCAD complet realizat. După deschiderea fișierului, trebuie să obțineți acest lucru:

Observați că importăm, robotul este alcătuit din 8 forme, direct pe rădăcina arborelui de documente. Structura fișierului vrml exportat se poate schimba dacă se utilizează grupuri. Formele sunt comandate de la bază la instrument. Ultima formă conține axele de rotație ale tuturor axelor robotului. Corelația dintre numele formei - numele piesei este dat de (din martie 2011) FreeCAD nu importă numele incluse în fișierele STEP:

FreeCAD name STEP name
TX40_HB HORIZONTAL BASE CABLE OUTLET
TX40_HB001 SHOULDER
TX40_HB002 ARM
TX40_HB003 ELBOW
TX40_HB004 FOREARM
TX40_HB005 WRIST
TX40_HB006 TOOL FLANGE
TX40_HB007 ?

For this import, change the “Display Mode” of each shape, TX40_HB007 excepted, from “Flat Lines” to “Shaded” for the vrml export to look good. I also changed the colors to [245, 196, 0] and [204, 204, 204] to better correspond to Stäubli's yellow. Hide TX40_HB007 because it contains the axes of all joints and cannot be taken apart.

Measure geometric characteristics

In order to build the Denavit-Hartenberg table (see Robot 6-Axis) and prepare the vrml file, you need to get characteristics of the robot. For now, the measurement tool of FreeCAD is not ready, you can use the axes included in TX40_HB007 (the co-ordinates are indicated on the bottom left when you point an object with the mouse) or you have to use the Python console to get some information about the geometry. Note that the DH-table is only required if you need to use the inverse kinematics, i.e. get the Cartesian coordinates or drive the robot with Cartesian coordinates. The DH-table for this robot is the following (mm, deg and deg/s):

i d θ r α θmin θmax Axis velocity
1 320 q1 0 -90 -180 180 555
2 35 q2 - 90 225 0 -125 125 475
3 0 q3 + 90 0 90 -138 138 585
4 225 q4 0 -90 -270 270 1035
5 0 q5 0 90 -120 133.5 1135
6 65 q6 0 0 -270 270 1575

The csv file is then:

a  , alpha, d  , theta, rotDir, maxAngle, minAngle, AxisVelocity
0  ,   -90, 320,     0,      1,      180,     -180, 555
225,     0,  35,   -90,      1,      125,     -125, 475
0  ,    90,   0,    90,      1,      138,     -138, 585
0  ,   -90, 225,     0,      1,      270,     -270, 1035
0  ,    90,   0,     0,      1,    133.5,     -120, 1135
0  ,     0,  65,     0,      1,      270,     -270, 1575

Export to vrml

Export the document to a vrml file. The structure of the vrml file is the following:

 #VRML V2.0 utf8
 
 
 Group {
   children 
     Group {
       children [ 
         Group {
         …
 
         },
           
         Group {
         …
 
         },
           
         Group {
         …
 
         },
           
         Group {
         …
 
         },
           
         Group {
         …
 
         },
           
         Group {
         …
 
         },
           
         Group {
         …
 
         },
           
         Group {
         …
 
         } ]
 
     }
 
 }

You can notice that we have 8 independent groups corresponding to the 8 shapes.

Preparation of the vrml file

All shapes in the vrml file are expressed in the base frame, independently from each other. For the Robot Simulation Workbench, we need to create a structure where a movement of a shape induces a movement of all shapes situated afterwards in the structure. The placement of the shapes will be relative to the preceding shape, so we need to include some translations from the absolute reference system to the relative one. The translations are described in the following picture:

With

A=(0, 0, 168)
B=(0, 107.8, 320)
C=(0, 104.15, 545)
D=(0, 35, 601)
E=(0, 35, 770)
F=(0, 35, 835).

Let's take the example of axis 4 between ELBOW and FOREARM, situated at D=(xd, yd, zd). The anchor for the FreeCAD axis is

 "DEF FREECAD_AXIS4 Transform { rotation 0 1 0 0 children ["

Aceasta corespunde unei rotații în jurul axei y. În modelul CAD, rotația este în jurul axei z. Astfel, avem nevoie de o rotație în jurul axei x a <math> \ pi </ math> înaintea definiției axei FreeCAD și a <math> - \ pi </ math> după aceasta. De asemenea, este necesară o translație (-xd, -yd, -zd) chiar înainte ca grupul care corespunde definiției FOREARM să o exprime în cadrul de referință relativ centrat(D) Asata înseamnă că o translație (xd,yd,zd)trebuie să fie introduse înainte de prima rotație. La final, fișierul vrml de la definiția ELBOW la definiția FOREARM arată astfel:

       # ELBOW
       Group {
         … here comes the unmodified definition of ELBOW
   
       },
         
       Transform {
         translation 0 35 601
         rotation 1 0 0 1.5707963
         children
           DEF FREECAD_AXIS4 Transform { rotation 0 1 0 0 children
             Transform {
               rotation 1 0 0 -1.5707963
               children
                 Transform {
                   translation 0 -35 -601
                   children [
       # FOREARM  
       Group {
         ... here comes the unmodified definition of FOREARM
   
       },

La sfârșitul documentului, trebuie introduse parantezele de închidere corespunzătoare:

  ]}}}},

for each of the 6 axes. Eventually, the document looks like this (I don't know if I can link the file here because of copyrights):

 #VRML V2.0 utf8
   
   
 Group {
   children
   Group {
     children [ 
       # HORIZONTAL BASE CABLE OUTLET 
       Group {
           ... here comes the unmodified definition of HORIZONTAL BASE CABLE OUTLET
    
       },
         
       Transform {
         translation 0 0 168
         rotation 1 0 0 1.5707963
         children
           DEF FREECAD_AXIS1 Transform { rotation 0 1 0 0 children
             Transform {
               rotation 1 0 0 -1.5707963
               children
                 Transform {
                   translation 0 0 -168
                   children [
       # SHOULDER
       Group {
           ... here comes the unmodified definition of SHOULDER 
   
       },
         
       Transform {
         translation 0 107.8 320
         #rotation 0 0 1 0
         children
           DEF FREECAD_AXIS2 Transform { rotation 0 1 0 0 children
             Transform {
               #rotation 0 0 1 0
               children
                 Transform {
                   translation 0 -107.8 -320
                   children [
       # ARM  
       Group {
           ... here comes the unmodified definition of ARM 
   
       },
         
       Transform {
         translation 0 104.15 545
         #rotation 0 0 1 0
         children
           DEF FREECAD_AXIS3 Transform { rotation 0 1 0 0 children
             Transform {
               #rotation 0 0 1 0
               children
                 Transform {
                   translation 0 -104.15 -545
                   children [
       # ELBOW
       Group {
           ... here comes the unmodified definition of ELBOW
   
       },
         
       Transform {
         translation 0 35 601
         rotation 1 0 0 1.5707963
         children
           DEF FREECAD_AXIS4 Transform { rotation 0 1 0 0 children
             Transform {
               rotation 1 0 0 -1.5707963
               children
                 Transform {
                   translation 0 -35 -601
                   children [
       # FOREARM  
       Group {
           ... here comes the unmodified definition of FOREARM
   
       },
         
       Transform {
         translation 0 35 770
         #rotation 0 0 1 0
         children
           DEF FREECAD_AXIS5 Transform { rotation 0 1 0 0 children
             Transform {
               #rotation 0 0 1 0
               children
                 Transform {
                   translation 0 -35 -770
                   children [
       # WRIST
       Group {
           ... here comes the unmodified definition of WRIST
   
       },
         
       Transform {
         translation 0 35 835
         rotation 1 0 0 1.5707963
         children
           DEF FREECAD_AXIS6 Transform { rotation 0 1 0 0 children
             Transform {
               rotation 1 0 0 -1.5707963
               children
                 Transform {
                   translation 0 -35 -835
                   children [
       # TOOL FLANGE
       Group {
           ... here comes the unmodified definition of TOOL FRAME
   
       },
         
       Group {
           ... here comes the unmodified definition of TX40_HB007
   
       } # "]" was deleted from this line
     ]}}}},
     ]}}}},
     ]}}}},
     ]}}}},
     ]}}}},
     ]}}}},
     ] # this is the "]" deleted from the line above
   }
 }

Iată un patch pentru a obține fișierul vrml potrivit pentru simularea robotului:

 7a8
 >         # HORIZONTAL BASE CABLE OUTLET 
 95968a95970,95981
 >         Transform {
 >           translation 0 0 168
 >           rotation 1 0 0 1.5707963
 >           children
 >             DEF FREECAD_AXIS1 Transform { rotation 0 1 0 0 children
 >               Transform {
 >                 rotation 1 0 0 -1.5707963
 >                 children
 >                   Transform {
 >                     translation 0 0 -168
 >                     children [
 >         # SHOULDER
 128428a128442,128453
 >         Transform {
 >           translation 0 107.8 320
 >           #rotation 0 0 1 0
 >           children
 >             DEF FREECAD_AXIS2 Transform { rotation 0 1 0 0 children
 >               Transform {
 >                 #rotation 0 0 1 0
 >                 children
 >                   Transform {
 >                     translation 0 -107.8 -320
 >                     children [
 >         # ARM  
 206503a206529,206540
 >         Transform {
 >           translation 0 104.15 545
 >           #rotation 0 0 1 0
 >           children
 >             DEF FREECAD_AXIS3 Transform { rotation 0 1 0 0 children
 >               Transform {
 >                 #rotation 0 0 1 0
 >                 children
 >                   Transform {
 >                     translation 0 -104.15 -545
 >                     children [
 >         # ELBOW
 267111a267149,267160
 >         Transform {
 >           translation 0 35 601
 >           rotation 1 0 0 1.5707963
 >           children
 >             DEF FREECAD_AXIS4 Transform { rotation 0 1 0 0 children
 >               Transform {
 >                 rotation 1 0 0 -1.5707963
 >                 children
 >                   Transform {
 >                     translation 0 -35 -601
 >                     children [
 >         # FOREARM  
 417854a417904,417915
 >         Transform {
 >           translation 0 35 770
 >           #rotation 0 0 1 0
 >           children
 >             DEF FREECAD_AXIS5 Transform { rotation 0 1 0 0 children
 >               Transform {
 >                 #rotation 0 0 1 0
 >                 children
 >                   Transform {
 >                     translation 0 -35 -770
 >                     children [
 >         # WRIST
 422053a422115,422126
 >         Transform {
 >           translation 0 35 835
 >           rotation 1 0 0 1.5707963
 >           children
 >             DEF FREECAD_AXIS6 Transform { rotation 0 1 0 0 children
 >               Transform {
 >                 rotation 1 0 0 -1.5707963
 >                 children
 >                   Transform {
 >                     translation 0 -35 -835
 >                     children [
 >         # TOOL FLANGE
 435627c435700,435707
 <         } ]
 ---
 >         } 
 >       ]}}}},
 >       ]}}}},
 >       ]}}}},
 >       ]}}}},
 >       ]}}}},
 >       ]}}}},
 >       ]