[akshayfusion]

Respected RoboDK Team,

I am currently developing a custom robotic arm that I would like to simulate in RoboDK. As shown in the attached images, the joints and mesh appear to be correctly defined. However, I am facing challenges in replicating the 4-bar linkage mechanism.

Specifically, the rear link should be constrained to move like a 4-linkage bar system (similar to the ABB IRB 760). I am unsure how to properly lock the links at the base and at the triangular section so that the mechanism behaves as intended during motion.

I have been working on this for the past 9 months without success, and your guidance would be extremely valuable in helping me resolve this issue. please let me know step by step if possible the cad files are attached below and the station also all the nessercy file please let me know if anything else is needed

summery : the support link at the back does not attach to the base like the one in abb robot does

I would be sincerely grateful if you could advise me on how to correctly set up such a linkage mechanism in RoboDK.
Thank you for your time and support.

[Sergei]

You can try synchronizing the positions of the links using a Python script.
The script uses the RoboDK API to change the position of the mechanisms corresponding to the links according to the position of the robot.
I attached an example.