Custom Robot - KR8 Hollow Wrist

[benlawson]

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

[Johannes @ Robots in Architecture]

Hello Ben,

The Grasshopper file is missing!

Thanks,
Johannes

[benlawson]

Looks like I'm having trouble attaching the grasshopper file. I'll keep trying.

[benlawson]

Here is the grasshopper file.

[Johannes @ Robots in Architecture]

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

[benlawson]

Hi Johannes,

Thanks for assistance. I followed these steps and it is now working properly.

Thanks,
Ben

[Johannes @ Robots in Architecture]

Perfect! Thanks for the update!
Best,
Johannes