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Reverse Engineering Workbench

Sketcher Workbench

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.

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

创建机器人: 在场景中插入一个新机器人
模拟轨迹: 打开模拟对话框并进行轨迹模拟
导出轨迹: 导出一个机器人程序文件
设置起始位置: 设置机器人的起始位置
还原初始位置: 将机器人移动到起始位置

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

创建轨迹: 在场景中插入一个新机器人
设置默认方位: 设置默认的方位航向点
设置速度参数默认值: 设置默认的航向点创建
插入航向点: 从当前机器人位置向轨迹中插入一个航向点
插入航向点: 从当前的鼠标位置向轨迹中插入一个航向点

参数性轨迹

由边创建轨迹: 插入一个新对象，该对象将边分解为轨迹
修饰轨迹: 覆盖轨迹的一个或多个属性
轨迹复合: 由多个单轨迹创建一个复合轨迹

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

FEM_Workbench

Standard Menu

Robots: Create a robot, Simulate, Export, Set home position, Restore home position

Trajectories, non parametric: Create a trajectory, Set default orientation, Set default values, Insert waypoint, Insert waypoint (mouse)

Trajectories, parametric: Create a trajectory from edges, Dress-up trajectory, Trajectory compound

User documentation

Getting started
Installation: Download, Windows, Linux, Mac, Additional components, Docker, AppImage, Ubuntu Snap
Basics: About FreeCAD, Interface, Mouse navigation, Selection methods, Object name, Preferences, Workbenches, Document structure, Properties, Help FreeCAD, Donate

Help: Tutorials, Video tutorials
Workbenches: Std Base, Assembly, BIM, CAM, Draft, FEM, Inspection, Material, Mesh, OpenSCAD, Part, PartDesign, Points, Reverse Engineering, Robot, Sketcher, Spreadsheet, Surface, TechDraw, Test Framework

Addons: Addon Manager, External workbenches, Scripting and macros

Hubs: User hub, Power users hub, Developer hub