i have Five Axis robot used for Welding
the end point of robot should move along a straight line and this should be achieved by Combination of Certain revolutionary joints
has anybody this before
Attach your assembly here.
Here the Rotary table Rotates 90 degree and stops for 7.5s
by that time robot comes to the poisition and does the welding
Rotary table ds
This is the "Inverse Kinematic" problem that can be solved by Dynamic Simulation. Attached is a demo dataset.
The basic steps are:
Define the mechanism:
1) Create the revolution joints in the Robot arm
Create the desired motion:
2) Create a spatial joint between the welding tip (end-effector, etc.) of the robot arm
3) Set up the desired imposed motion in the spatial joint => this will create the position versus time functions in the revolution joints automatically
4) Run the simulation
Save the desired motion:
5) In the output grapher, activate the postion of only the first revolution joint => save this as a curve file (RMB on the column header => Save curve as...)
6) Repeat for the remaining revolution joints
Input the desired motion:
7) In the first revolution joint, use the Input Grapher to import the corresponding saved curve (use the spline function)
8) Repeat for the remaining joints and corresponding curve files
Run the simulation to verify the inverse kinematics:
9) Suppress the spatial joint & run the simulation. This will use the inputs to the revolution joints instead of the spatial joint.
There is a video that goes along with the demo dataset, but it is too big to post (~19 MB). Please let me know if you'd like me to email it to you.
Hope this helps!
i have done some theoritical calulation
but combination of those movements is not the same result in DS
could u send me the video to
my email id is
how did u calculated this curve from Spatial joint
Could u be more Specific
I've emailed you the video demo.
Those curves were automatically calculated.
In order to make spatial joint drive the mechanism:
1) Open "6 Axis Robot.iam" in DS
2) Unsuppress the Spatial joint (open the joint properties to see the imposed motion. This is where the sinusoidal motion and and linear translation are defined)
De-activate the revolution joints driving the mechanism:
3) Shift+select the revolution joints in the browser => properties
4) In the joint properties dialog, press the imposed motion button and uncheck the imposed motion checkbox
5) Run the simulation
6) View the corresponding positions of the revolution joints in the output grapher
As JD mentioned, if you could post your robot arm assembly we can take a closer look.
i have achieved this Simulation
as u suggested ihave used spatial joint
and replicated back those curves to Different axis
here is the Video
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