Robot Workbench/sv

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Reverse Engineering Workbench

Sketcher Workbench

Index

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Introduction

Robot arbetsbänken är ett verktyg för simulering av 6-axliga industrirobotar, som t.ex. Kuka. Denna arbetsbänk är ett pågående arbete för att implementera ett off-line programmeringsverktyg för Robot_6-Axis industrirobotar i FreeCAD. You can do following tasks:

set up a simulation environment with a robot and work pieces
create and fill up trajectories
decompose features of an CAD part to a trajectory
simulate the robot movement and reachability
export the trajectory to a robot program file

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.

Du kan hitta ett exempel här: Example files or try the Robot tutorial.

Tools

Here the principal commands you can use to create a robot set-up.

Robots

The tools to create and manage the 6-Axis robots

Create a robot: Insert a new robot into the scene
Simulate a trajectory: Opens the simulation dialog and lets you simulate
Export a trajectory: Export a robot program file
Set home position: Set the home position of a robot
Restore home position: move the robot to its home position

Trajectories

Tools to create and manipulate trajectories. There are two kinds, the parametric and non parametric ones.

Non parametric trajectories

Create a trajectory: Inserts a new empty trajectory-object into the scene
Set the default orientation: Set the orientation way-points gets created by default
Set the default speed parameter: Set the default values for way-point creation
Insert a waypoint: Insert a way-point from the current robot position into a trajectory
Insert a waypoint preselected: Insert a way-point from the current mouse position into a trajectory

Parametric trajectories

Create a trajectory out of edges: Insert a new object which decompose edges to a trajectory
Dress-up a trajectory: Lets you override one or more properties of a trajectory
Trajectory compound: Create a compound out of some single trajectories