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- Download the build supporting 3P3R robot from robotmaster website. The build number is: Robotmaster_V6.1.4058.
- Set Robx file:
- The robot architecture type in Robx file must be set to "DECOUPLED_3P3R".
- Set DH chart.
- The first three links are set basing on the wrist centre position as all the joint value are in zero;
- If there is translation joint holding part, the translation direction in DH chart must be reversing with the direction in real robot. For example, if Joint 2 positive direction in real robot is along +Y of world frame, it must be set to -Y in DH chart.
- Add the joints holding part to <tempVariables>. For example, if second joint of robot holds part, it would be set as:
- Set robot base frame which has Z axis collinear with translation direction of first joint.
- Joint motion range and other setting are same as other decoupled robot;
- Set Simulation XML file.
- Set Place the joint holding part to part chain.
- If robot STL models are created from posture with no zero value, an extra transformation must be added in. For example, if STL models are created when A3 is -700, transformation matrix <J3_transform> is inserted for moving Joint3, joint4, joint5, joint6 up 700, which is the correct position when A3 is zero. In this case, another extra transformation, which is the inverse of <J3_transform>, was added in before <Holder_transform>, because holder and spindle transforms should not be affected by <J3_transform>.
Two 3P3R robots have been set up and are attached in here:
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