Hello,
I am trying to make a custom robot definition for the KR8 R1640-2 Arc HW. I've taken a look at the tutorial file as well as some other posts on this topic, but haven't been able to get the robot links to align in PRC. I noticed others had issues with hollow wrist robots, so I wasn't sure if there was an issue with the datasheet or perhaps I entered the data incorrectly. Attached are the datasheet and grasshopper file I'm working with. I appreciate any help setting this up.
Thanks,
Ben
Hello Ben,
The Grasshopper file is missing!
Thanks,
Johannes
Looks like I'm having trouble attaching the grasshopper file. I'll keep trying.
Here is the grasshopper file.
Hello Ben,
The file was generally prepared correctly; however, for some reason, your robot model is facing in negative X direction, while when you download it from KUKA, it should be facing in positive X direction. Also, you got a wrong value for a part of the robot - the distance between "elbow" and "wrist" should be 627mm and not 707mm.
With that it looks fine - however the mesh is WAY too complex and when you try to bake it, some parts show up as invalid and don't work with the ReduceMesh component. So I would recommend generating the mesh again from the CAD source material and afterwards running a MeshReduce command so that the total amount of vertices for the robot is at around 50k vertices (~7k vertices per element).
Best,
Johannes
Hi Johannes,
Thanks for assistance. I followed these steps and it is now working properly.
Thanks,
Ben
Perfect! Thanks for the update!
Best,
Johannes