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This page introduces how to support 3P3R robot. 

Step-by-step guide

  1. Set Robx file:
    1. The robot architecture type in Robx file must be set to "DECOUPLED_3P3R".
    2. Set DH chart. The first three links are set basing on wrist centre position.
    3. Add the joints holding part to <tempVariables>.  For example, if second joint of robot holds part, it would be set as: 
  2. Set Simulation XML file.
    1. Set the joint holding part to part chain.

Two 3P3R robots are attached in here:

RM_CELL_E1_E2_E3_Wrist_TOOL-PART.zip

KMC3P3R.zip

 

It does support G-code generation, simulation and optimization.

It can support external axes control too, so robot cell could contain external 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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