[brares17]

Hello everyone,
I am currently working on a simulation in RoboDK and I need to integrate a wrapping machine into the process. I found a suitable wrapping machine model on GrabCAD, but I am unable to attach the CAD file here. However, I can provide the download link:
https://grabcad.com/library/automatic-st...-machine-1
My main issue is that I don’t know how to properly program this machine inside RoboDK. I tried several approaches, but I couldn’t get anything to work.
If anyone has experience with programming such machines or can guide me on how to set up its motion/logic in RoboDK, I would greatly appreciate your help.
Also, if someone already has a working script or an existing wrapping machine setup that I could use as an example, that would be extremely helpful.
Thank you in advance!

[Albert]

This link of the documentation shows how you can model robots and custom mechanisms:
https://robodk.com/doc/en/General.html#ModelRobot

Can you share more information about what you tried? Do you have the RoboDK project file with each joint split as a sepate object?

[brares17]

Hello again,

I’m coming back with some additional information regarding my issue. I found another CAD file for the wrapping machine, and while the rotation of the table works fine, I am still dealing with a major problem.
When I try to use JOINT1 (translation), the translation also affects the rotary table, even though I specifically selected only the object that holds the wrapping film (this is the part I want to translate along the Z-axis). The rotary table should remain unaffected, but it moves as well.
Do you have any idea what might be causing this behavior or how I can properly separate these motions?
If needed, I can also provide the CAD file or the RoboDK project so you can take a closer look.

Thank you!

[Albert]

If you can share your project in RoboDK and the attempts you are doing it will better help us understand this issue and better help you.

[brares17]

  incercare_wp.rdk (Size: 2.42 MB / Downloads: 14)
Hello,
I have attached a file that contains what I have worked on and tested so far.
I would really appreciate any feedback or suggestions for improvement.
Thank you

[Albert]

I believe you should not provide a 3D model for your first joint (you can leave it empty or select None when you build your mechanism). It looks like joint 1 and joint 2 are the round plate.

Also, I'm not sure where the rotation should happen but you can align the Z axis with the rotation axis.

[brares17]

Hello,
I think there was some confusion in my previous post, so I want to clarify the real issue.I am trying to simulate a stretch-wrapping machine, and what I need is for the turntable to remain completely fixed when the vertical translation (Z movement) occurs. When the carriage moves up or down along the Z axis, the turntable should NOT be translated or moved at all. It must stay in place, just like in a real stretch-wrapping machine. At the moment, RoboDK applies the Z translation to the turntable as well, which is exactly what I want to avoid. To make it clearer, I will also provide a video of a real stretch-wrapping machine so you can see exactly the motion I’m trying to simulate.
Thank you!
https://www.youtube.com/watch?v=pZByYLFNVuE

[Albert]

OK I didn't understand what you were trying to do in the first place.

In this case you should model the 2 moving parts as separate mechanisms: one axis to rotate and a separate axis to translate.

[brares17]

I tried setting up two mechanisms:first a rotation and then a translation but I still can’t get it to work correctly. Could you help me with this if you can?
Thanks!

[Olivier]

Here is an example of how you can make a wrapping machine using 2 separate mechanism in RoboDK.
I made this example using your model and included basic programs, I hope this help.