This page introduces how to properly use the preliminary support for 3P3R robot. Once the complete support is ready, this page will not be valid anymore.
Step-by-step guide
- Set Robx file:Click "Robotmaster Generate Program" button, the robot codes are generated
- The robot architecture type in Robx file must be set to "DECOUPLED_3P3R".
- Choose the 3P3R robot in RM global setting, and save it by clicking green check;
- Set axis configuration;
- Set DH chart. The first three links are set basing on wrist centre position.
- Add the joints holding part to <tempVariables>. For example, if second joint of robot holds part, it would be set as:
- Set Simulation XML file.
- Set the joint holding part to part chain.
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This preliminary It does support only support G-code generation, neither simulation nor optimization is supported by this preliminary supportand optimization. This preliminary support does not support It can support external axes control too, so robot cell should not could contain any external axisexternal axis. No Base and Elbow configuration existing for this type of robot. Thus, it does not change anything by changing the base and elbow configuration setting. (These two setting in GUI will be disabled in future for 3P3R robot. ) Only prismatic joints can hold part. The robot with more than one joint holding part can be supported theoretical but is not tested yet.
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