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How to attach mechanism to robot link (not tool)

I am hoping someone can direct me on how to perform the following task. I have an stl of a mechanism that I would like to attach to link 3 of my robot, so it will only move when joints 1-3 move. The goal would be to see if it will make contact with anything in the station. I have brought the mechanism into robodk and positioned it where I want to position it (see blue mechanism in attached image), but I do not know how to attach it to link 3 (or joint 3). Can I establish a reference frame on a robot joint and link it that way? Thanks!

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Hi there,

This is not a standard feature of RoboDK, but if you really need it, I think the best way would be to create a new robot starting with the 3D model of it and our "Model mechanisms and robots" feature.

This way, you will be able to add your dress pack to the part of the robot it's supposed to be attached to before creating the robot inside RDK.

If the 3D model of the robot is available, it shouldn't be too hard/long to achieve.
This YouTube video will help you with that :

Hope it helps.
Have a great day.

Find useful information about RoboDK and its features by visiting our Online Documentation and by watching tutorials on our Youtube Channel

Success! Thank you!
Hey, I have similar issue, just in my case I want to attach an actual simple mechanism to a joint frame.
I have T-bot mechanism and I want to attach another linear mechanism to joint 1 frame. So this linear mechanism moves together when T-bot joint 1 moves but does not move when joint 2 moves.
in T-bot options panel, I can visualize frame "1" which is the one I need. Is it possible to use it?

Great software!
Thank you for your feedback. Attaching moving mechanisms to an existing robot link is not supported. You would have to split your robot into smaller mechanisms so you can define your dependency in the tree and attach your new mechanism to the right joint.
For others who end up at this thread, this has now been resolved by a plugin:
Thank you for your feedback! We'll improve the description in the attach object add-in so it helps use it for collision checking as you can see it as a separate object in the collision map.

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