rotational_axis

[Moh.Yazdan]

Hello everyone

I would like to inquire about how to add an axis of rotation, as detailed in the attachment to the Grasshopper.

Best regards,
Moh

[Johannes @ Robots in Architecture]

Hello Moh,

The first step is that the external axis needs to be properly working. So you need to make sure that the axis itself is calibrated and then set an Offset Base (fine to use all-0 fror testing). That way, when you go into base movement mode and move your external axis in that mode, the turntable will turn and the robot will move along with it, i.e. it will keep its position relative to the turntable.

Is that working for you? What are the calibration values of your rotary axis?

Best,
Johannes

[Moh.Yazdan]

First of all, thank you very much for your response. As you mentioned, I set the root
position Frame by right-clicking on DKP 400. However, what is still unclear for me is
how to use the two axes of this component simultaneously, specifically for rotation in
the y and z directions. I attempted to define a position for DKP 400 in the Base
section using E1 and E2, but when I run the simulation, the accuracy is not
satisfactory. Can you please show me how to adjust the value in this file? In the
attachment, you can find the Grasshopper and Rhino files. Additionally, could you
please guide me on the value that should be defined in the dynamic value by vector
for the Rotary axis?
The second question is regarding where I can find the KP1-HC500 R1200-2 (one-axis
positioner).

best,
Moh

[Johannes @ Robots in Architecture]

Hello,

Sorry, where is the DKP 400 coming from now? Your screenshot showed a linear rail and a horizontal positioner.
You mention that the "simulation is not satisfactory", what do you mean by that? This can be anything from a 2mm difference to the robot being 1m away from where it should be.

I looked at your attached file and it seems fine to me. You would need to explain to me what exactly you want to achieve in order for me to be able to help you.

What I can tell you is that your tool is very high resolution which will reduce performance. I would reduce it down to like 10k vertices.

Especially when using a DKP (= 2 rotary axes) I would personally recommend defining your own positioner strategy (see e.g. attached). The automated solver settings define a vector (so entering 0/0/0 as in your file will have no effect). That being said I just looked at the solver and there might be bug in some cases. I will have to look into that whether it's related to us or Rhino.

The horizontal axis is not included by default, but we have several people using those through the custom turntable component.

It would be great if we could go through your questions in sequence and solve them one by one, rather than posting them all at the same time.

So first back to your turntable from the initial screenshot: Is it synchronizing properly? What are its XYZABC values?

Thanks,
Johannes