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visualization of axis coupling (Comau Smart H1)


according to I have tried to build an 20 years old (but still working) COMAU SMART H1 robot in RoboDK. I think I have still managed to parameterize the robot regarding to coupled axises for now.

This model has axis 2 and 3 coupled via physical link. There is also a counterweight and a spring attached to the mechanic.

Is it possible to build this kind of robot oneself (like the Comau NJ650 from the library) with complete working "visualizations" of parallel link, counterweight  and spring? 

Or Is there anybody who can share a working Comau Smart H1 - model with this features?

Thank you!

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