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| − | | + | ==RoboDK== |
| − | = Using RoboDK = | + | *[[How to assign a new robot to RoboDK|How to assign a new robot to RoboDK]] |
| − | == How to assign a robot to RoboDK from STEP files ==
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| − | The main purpose of this section is to teach the user, step by step, how to assign a new robot to RoboDK by using STEP files. <br />
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| − | First of all we'll need the appropriate STEP files. Only after receiving those files we can start working.<br />
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| − | Our primary goal is to create several STEP files that separately contains the robot's joints parts.<br />
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| − | The meaning is that every file contains all the robot's parts that move together along the same axis. <br />
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| − | It's preferred off-course to receive all files separately, but mostly the hole robot will be sent as one file.
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| − | === '''step 1''' ===
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| − | Inside that file, the robot is divided to it's joints parts (for example: base, joint 1, joint 2).
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| − | # Open the file in SolidWorks.
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| − | # Figure out the structure of the robot.
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| − | # check if actually divided to the needed joints parts.
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| − | #; If not divided correctly to the appropriate sub-assembles, we'll need to do that by ourselves.
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| − | ::* Mark all the parts and sub-assembles that move around the same axis and unite them to the same sub-assembly.
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| − | ::* Save and name that sub-assembly with the appropriate joint name (base, joint 1, joint 2).
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| − | === '''step 2''' ===
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| − | Now that we have our sub-assembly's corrected as the right base and joints, the next step is to assign the correct orientation for the robot.
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| − | * In SolidWorks, the default orientation is that the base is parallel to the XZ plane.
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| − | * Move the robot to be parallel to the XY plane.
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| − | === '''step 3''' ===
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| − | Centralizing the robot relatively to it's base:
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| − | # Define the base center.
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| − | # Centralize all joint's sub-parts that supposed to be centralized, relatively to the defined base center.
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| − | === '''step 4''' ===
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| − | Define all parts in every sub-assembly separately:
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| − | *Every sub-assembly has parts that integrate differently with one another.
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| − | *Some are concentric, some are linked and some have fixed distance between them, all of this features must be defined correctly if they are not defined already.
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| − | # Define the connections above for every possible part in the sub-assembly (including trademarks/symbols and so forth).
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| − | # Make sure they're parallel to the right plane and move around the right axis.
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| − | === '''step 5''' ===
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| − | Save every sub-assembly as a STEP.AP2M file
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| − | === '''step 6''' ===
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| − | Open the files in RoboDK. Now we'll define the robot's utilities with RoboDK.
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| − | :Go to ''''Utilities'''' --> ''''Model Mechanism or Robot'''', the following window will appear.<br /> [[File:RoboDK_-_utilities.jpg|1000px]]
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| − | # Choose the type of robot.
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| − | # Measure the robot with SolidWorks and assign the appropriate measures for every link of the robot.
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| − | # Choose the correct graphics for every link from the sub-assembles we created. [[File:RoboDK_-_rightgraphics.jpg|100px|text-top]]
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| − | === '''step 7''' ===
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| − | Try to move all joints separately. If they do not move as they should, go back to '''step 6.3''' and try to play with the values of the various joints. <br />
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| − | [[File:RoboDK_-_jointsvalues.jpg|500px|text-top]] <br />
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| − | If the robot is still acting not as expected, go back to '''step 6.2''' it may be that the measuring is incorrect. <br /> another option is to go back to '''step 4''' and check if every part is defined properly.
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