Robot Modeling with Vertical Riser

[Anonymous]

Hi All,

Based on my current knowledge of PowerMill, the software can support up to 12 degrees of freedom in a robotic system. Additionally, the software already has the ability for linear movement of robots as one of those axes. My question is: How simple is it to get PowerMill to model a vertical riser for a robot, such as the one shown in this video:

(Gudel - TrackMotion Vertical)

After studying the examples of linear moving robots in PowerMill, I'm confident that I can create the necessary .mtd file and get the model to actuate; my main concern would be PowerMill's modeling of the inverse kinematics of the system. Does anyone have insight here?

[alexandre.pintoAGNAU · Accepted solution]

Hello @mhoganson,

PowerMill Robot does support the vertical external axis.

In our library you have probably seen an example of Robot on a horizontal rail, this is same system as what you are looking at.

Only difference is the Robot is moving along a vertical axis, <simple_linear I="1" J="0" K="0" /> is responsible for axis direction , just update IJK to replicate the axis movement you wish.

"PowerMill Robot - How to build a robot simulation.pdf" has detailed information regarding this.

The external linear rail, vertical or horizontal, generally is considered a linear positioner, it places the robot on a specific coordinate along that axis. Generate a program with any example robot with linear rail in the library and look at the output code. The external axis can be static or have any other form or axis priority.

How the external axis is setup and how the controller is managing this might change from manufacturer. So I suggest requesting your hardware supplier for example code for your robot and maybe how it is setup and driven. 

I hope this helps.
Let me know if you have any further questions.