08-20-2021, 03:22 PM
I have a custom robot that I am trying to model using the mechanism modeler. This robot does not really match any of the options in the modeler, because it only has five joints (instead of the traditional six axes industrial robot). To make things worse, J6's axis of rotation does not intersect J5's axis of rotation. To combat this, I was able to use six axes mechanism model, ignoring axes 4 and 6, to get my first four linkages to move properly, then I modeled my last linkage (which includes a solid mount gripper) as a turntable, which I mounted on the end of the modified six axes mechanism. The robot movements work properly when jogging the axes with joint axes jog slider, but, when I try to move a TCP, related to the 6 axes mechanism, using cartesian coordinates, nothing moves. I will add that there is a TCP related to the robot, and a TCP related to the turntable axis. Am I missing something that would allow my to move the robot TCP with cartesian coordinates, or is this not possible with this software?