[Valentin BONNEAU]

Hello.

I am having difficulties setting up my curve following project.
I am importing the curves from grasshopper via Rhinoceros, and am working with a linear axis as you can see on the picture. 

     

I am a bit confused because I have the red mark on the RhinoCrv Settings button (left side) but a green one on the question mark (right side).

When I click show estimated toolpath, it manages to compute a toolpath without showing any difficulty, but when I click simulate, nothing happens.

I haven't found any tutorial showing how to set up a 3D curve following project with a linear axis.
Has the question already been answered? Is there material existing to help guide me?

Thanks

[Albert]

The path may not be feasible in one shot. I recommend you to split it in smaller areas or better fine tune the parameters that manage how the external axis behaves.

If you can share your RoboDK project file we can help you better.

[Valentin BONNEAU]

Sure, there it is.

I indeed had in mind splitting the path, but I wanted to check first whether the linear axis optimisation algorithm was able to understand how to move the robot along the rail according to the part of the path it had to perform.

[Sergei]

Thanks for sharing the station.

I believe that a guaranteed and accurate solution in terms of surface scanning would be to create a curve follow project for each of the scanning passes.

This way you can always achieve the same position of the scanner to the path and eliminate the possible negative influence of the rail (shaking) on the quality of scans.

However, you can try to set the desired behavior of the robot for this kind of motion by adjusting the individual priorities for the axes. In particular, try to fix the first axis of the robot slightly:


  opt.png (Size: 156.13 KB / Downloads: 71)

This will allow the robot to be in the desired position but, unfortunately, will not prevent it from using the external axis when it is not needed (during scanning). In this case, the whole path will have to be divided into at least two parts because the length of the rails is limited, so the robot cannot always be in this position:


  prt.png (Size: 181.92 KB / Downloads: 70)

I attached the modified station

[Valentin BONNEAU]

Hi Sergei.

I'll check that and let you know.
Thank you for your answer.

Best.

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Looks great Sergei thanks a lot.

How did u set the orientation of the tool to be more or less normal to the surface? By hand or with a specific tool?
Also, how did u manage to set up the whole curve and not just a small part (one of the difficulty that I faced earlier).

Thank you for your guidance.

[Sergei]

How did u set the orientation of the tool to be more or less normal to the surface? By hand or with a specific tool?

I didn't do anything for this, the curve points already contained the normals to the surface:


  1.png (Size: 60 KB / Downloads: 48)

Generally speaking, when exporting a curve from Rhino, you can specify the surface used for orienting the normals:

https://robodk.com/doc/en/Plugin-Rhino.html#GHtoolbar

Also, how did u manage to set up the whole curve and not just a small part (one of the difficulty that I faced earlier).

Curve Follow Project supports multiple curve selection to create a toolpath (you just need to click on the curves one by one ):


  2.png (Size: 137.72 KB / Downloads: 50)