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FreeCAD Robot Workbench Tutorial

This document provides a tutorial for using the Robot Workbench in FreeCAD to simulate a robot cell setup. The tutorial guides the user through setting up the scene with a Kuka IR500 robot, creating a trajectory by defining waypoints, and simulating robot movement along the trajectory. Key steps include inserting the robot, changing to the axonometric view, creating a new trajectory, setting the home position, defining waypoints, and playing the simulation. The tutorial is designed for beginners to learn how to simulate an industrial robot's movements in FreeCAD.

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Jorge Alberto Zorro Sanchez
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606 views2 pages

FreeCAD Robot Workbench Tutorial

This document provides a tutorial for using the Robot Workbench in FreeCAD to simulate a robot cell setup. The tutorial guides the user through setting up the scene with a Kuka IR500 robot, creating a trajectory by defining waypoints, and simulating robot movement along the trajectory. Key steps include inserting the robot, changing to the axonometric view, creating a new trajectory, setting the home position, defining waypoints, and playing the simulation. The tutorial is designed for beginners to learn how to simulate an industrial robot's movements in FreeCAD.

Uploaded by

Jorge Alberto Zorro Sanchez
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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20/6/2020 Robot tutorial - FreeCAD Documentation

Robot tutorial

Tutorial
Introduction Topic

This tutorial is here to teach you how to use the Robot Robot Workbench

Workbench to simulate a robot cell set-up. Level


Beginner
Time to complete

Authors
r-frank
FreeCAD version
0.16.6703
Example files

Sumario
Introduction
Before you begin
Setting up the scene
Setting up a trajectory
Simulating robot movement

Final result of this tutorial

Before you begin


This tutorial is written for FreeCAD Version 0.16.6703 or higher. So if you don't have
FreeCAD on your computer go to the Download page and do the installation.

This tutorial is targeting on the use of industrial robots (http://en.wikipedia.org/wiki/Indu


strial_robot) and not mobile or service robots (see wikipedia's entry on modern robots (htt
p://en.wikipedia.org/wiki/Robot#Modern_robots)).

Setting up the scene


1. Switch to the Robot Workbench
2. Create a new document by choosing File → New from the top menu
3. Insert a Kuka IR500 robot into the scene by choosing Robot → Insert Robots → Kuka IR500 from the top menu

https://wiki.freecadweb.org/Robot_tutorial 1/2
20/6/2020 Robot tutorial - FreeCAD Documentation

4. Change to axonometric view by clicking on the button

5. Zoom to fit all by clicking on FitAll button


6. Save your file ...

Setting up a trajectory
1. Switch to the Robot Workbench
2. Activate the model-tab in the tree view by clicking on it
3. Create a new trajectory by clicking on the Robot CreateTrajectory button
4. Select the robot in the tree view
5. Set home position for robot by clicking on Robot_SetHomePos
6. Switch to the Task Panel
7. By using the sliders change robot position
8. When robot and trajectory are selected in tree view clicking on Robot InsertWaypoint will insert the way-point in the trajectory
9. Each way-point is shown with a yellow cross, the waypoints are connected with orange lines
10. Define at least three different way points and insert them in the trajectory

Simulating robot movement


1. Select robot and trajectory in tree view
2. Select simulation by clicking on Robot Simulate
3. Click on Play ▶ button
4. Watch simulation
Tutorials [Expandir]
Robot [Expandir]
User documentation [Expandir]

Obtenido de «http://wiki.freecadweb.org/index.php?title=Robot_tutorial&oldid=633046»

Esta página se editó por última vez el 28 feb 2020 a las 13:07.

El contenido está disponible bajo la licencia Creative Commons Attribution a menos que se indique lo contrario.

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