Difference between revisions of "Palletizing Robot"
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− | =Palletizing Robot = | + | {{Languages|Palletizing_Robot}} |
+ | = Palletizing Robot = | ||
− | [[File:PALROB0.PNG | 700px]] | + | [[File:PALROB0.PNG|700px|PALROB0.PNG]] |
+ | | ||
== Robot Model == | == Robot Model == | ||
− | [[File:PALROB1.PNG | 700px]] | + | [[File:PALROB1.PNG|700px|PALROB1.PNG]] |
Palletizing robot in ABOVE elbow configuration | Palletizing robot in ABOVE elbow configuration | ||
− | ==Coupling== | + | == Coupling == |
− | + | In palletizing robot family there is a mechanical coupling between axes 2 and 3. The coupling matrix of the robot is defined by: <math> | |
− | In palletizing robot | ||
− | <math> | ||
C = \begin{bmatrix} | C = \begin{bmatrix} | ||
− | 1 & | + | 1 & 0 & 0 & 0 \\ |
− | 0 & | + | 0 & 1 & 0 & 0 \\ |
− | 0 & -1 & | + | 0 & -1 & 1 & 0 \\ |
− | 0 & | + | 0 & 0 & 0 & 1 \\ |
\end{bmatrix} | \end{bmatrix} | ||
</math> | </math> | ||
− | [[File:PALROB2.PNG | 700px]] | + | [[File:PALROB2.PNG|700px|PALROB2.PNG]] |
+ | |||
+ | | ||
+ | == Geometric parameters == | ||
− | + | For palletizing robot family geometrical parameters are defined by: | |
− | For palletizing | ||
− | {| style="border-spacing:0;" | + | {| border="1" style="border-spacing:0;" |
− | | style="border-top:0.0069in solid #000000;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>DH parameter</center> | + | |- |
− | | style="border-top:0.0069in solid #000000;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>MC-Basic property name</center> | + | | style="border-top:0.0069in solid #000000;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;" | <center>DH parameter</center> |
− | | style="border:0.0069in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>Value in mm</center> | + | | style="border-top:0.0069in solid #000000;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;" | <center>MC-Basic property name</center> |
+ | | style="border:0.0069in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;" | <center>Value in mm</center> | ||
|- | |- | ||
− | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>a1</center> | + | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;" | <center>a1</center> |
− | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center> | + | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;" | <center><nowiki><robot >.link[1][1]</nowiki> |
− | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:0.0069in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>300</center> | + | </center> |
+ | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:0.0069in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;" | <center>300</center> | ||
|- | |- | ||
− | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>d2</center> | + | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;" | <center>d2</center> |
− | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center> | + | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;" | <center><nowiki><robot >.link[1][3]</nowiki> |
− | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:0.0069in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>334.5</center> | + | </center> |
+ | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:0.0069in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;" | <center>334.5</center> | ||
|- | |- | ||
− | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>a2</center> | + | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;" | <center>a2</center> |
− | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center> | + | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;" | <center><nowiki>< robot >.link[3][1]</nowiki> |
− | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:0.0069in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>1280</center> | + | </center> |
+ | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:0.0069in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;" | <center>1280</center> | ||
|- | |- | ||
− | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>a3</center> | + | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;" | <center>a3</center> |
− | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center> | + | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;" | <center><nowiki>< robot >.link[4][1]</nowiki> |
− | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:0.0069in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>1350</center> | + | </center> |
+ | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:0.0069in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;" | <center>1350</center> | ||
|- | |- | ||
− | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>a4</center> | + | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;" | <center>a4</center> |
− | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center> | + | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;" | <center><nowiki>< robot >.link[5][1]</nowiki> |
− | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:0.0069in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>260</center> | + | </center> |
− | + | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:0.0069in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;" | <center>260</center> | |
|- | |- | ||
− | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>d5</center> | + | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;" | <center>d5</center> |
− | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center> | + | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:none;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;" | <center><nowiki>< robot >.link[6][3]</nowiki> |
− | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:0.0069in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;"| <center>-247</center> | + | </center> |
− | + | | style="border-top:none;border-bottom:0.0069in solid #000000;border-left:0.0069in solid #000000;border-right:0.0069in solid #000000;padding-top:0in;padding-bottom:0in;padding-left:0.075in;padding-right:0.075in;" | <center>-247</center> | |
|} | |} | ||
− | |||
− | |||
+ | <br/> The above parameters of '''link''' matrix property of the robot must be filled-in in the robot’s setup file. In order that the system accepts the above setup the “'''configgroup'''” command must be executed. Note that only the above set of parameters affects the robot geometry, the rest of the | ||
+ | <nowiki>link[][]</nowiki> | ||
+ | and <nowiki>axis[][] </nowiki> | ||
+ | values do not influence the robot geometry in any way and are not affected (changed) by '''configgroup''' command or any other robot command. The rest of the DH parameters are predefined as follow and are automatically internally set by choosing the right group model. | ||
+ | | ||
− | + | == Configuration == | |
+ | Elbow configuration flag is defined by: | ||
− | + | *ABOVE - arm with respect to the shoulder coordinate system has negative coordinate value along the Y axis of the second segment | |
+ | *BELOW - arm with respect to the shoulder coordinate system has positive coordinate value along the Y axis of the second segment | ||
− | + | See: [[MC-Basic:robot.ELBOWCMD|ELBOWCMD]] | |
− | |||
− | |||
− | + | [[Category:Robot Models]] |
Latest revision as of 06:48, 10 April 2022
Language: | English • 中文(简体) |
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Contents
Palletizing Robot
Robot Model
Palletizing robot in ABOVE elbow configuration
Coupling
In palletizing robot family there is a mechanical coupling between axes 2 and 3. The coupling matrix of the robot is defined by:
Geometric parameters
For palletizing robot family geometrical parameters are defined by:
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The above parameters of link matrix property of the robot must be filled-in in the robot’s setup file. In order that the system accepts the above setup the “configgroup” command must be executed. Note that only the above set of parameters affects the robot geometry, the rest of the
link[][]
and axis[][]
values do not influence the robot geometry in any way and are not affected (changed) by configgroup command or any other robot command. The rest of the DH parameters are predefined as follow and are automatically internally set by choosing the right group model.
Configuration
Elbow configuration flag is defined by:
- ABOVE - arm with respect to the shoulder coordinate system has negative coordinate value along the Y axis of the second segment
- BELOW - arm with respect to the shoulder coordinate system has positive coordinate value along the Y axis of the second segment
See: ELBOWCMD