tanx a lot for your good explanation but i downloaded your attachment and can not to open them because my SW.version is 2008
pls upload in 2008 solid to use it every one like me ! i need it , i've got the project (6dof robot in solid)
Tanx a lot again
I'm wating 4 u !
I do not have access to 2008 at the minute. I will see if I can get time to convert a model and install the software, but it may take me a little while to get that done around my regular work.
This example is a simplification. If you are dealing with inverse kinematics of a 6DOF robot it takes a little bit more care when dealing with the rotation transforms. Do you have the end effector position movement for all 6 DOF? Are you familiar with Bryant angles for angle transformation?
I'm having a similar problem where i want to define the motion of a simple 2 DOF robotic arm. I have a table of the rotation position of motors located at the arm's joints that i want to import into solidworks to use in an animation or a motion study. From the excavator attachment it looks like its possible to export a set of position values from the motion study. I am wondering if it is possible to do the reverse and input a set of values to simulate the motion of an arm. If so, is there a detailed outline of all the steps in order to execute said function. I found the solidworks tutorials format really helpful but I couldn't find anything on importing values. Thanks in advance.
Sorry for the delay.
You can import position vs time data from txt or csv files. Make sure there is no header (just the data). Under motion type select the "Interpolated" option and choose load from file. This is explained under motion property manager (click on the ? on the motion property manager to see).
I am having some trouble locating the exporting and importing function. I've been able to find the interpolation mode but it only lists graphical options instead of import options. Attached is an image of what I have been editing. Can you tell me if I'm looking in the right place? Thank you!
You are not looking at the right approach. You need to think not like animator where you manually shift part positions at different times with key frames and then determine how the movement is interpolated, but as a mechanical designer where you have motors and actuators driving the movement.
Step 1: Apply motors at all the pivot points on the amr acting on one of the parts and using the other part connected as the reference component
Step 2: In the motion property manager, you can select the input form and from there you select the interpolated option for the function driving the motor.
Step 3: If you plot rotation of the pivot joints, you can then export any plot to a csv file (this will contain position vs time information). If you remove the header lines from this file, you can then use it to drive a motor or actuator
The normal approach of inverse kinematics to robots is done by driving the end effector (using multiple motors for different directions) through a prescribed movement. From that, you then plot the joint rotations where the real motors are positioned, and then export the curve data. Then you bring that data in to drive the motors and obtain torque load requirements. If you already have the joint rotation inputs, you can avoid the first 2 steps.
Thanks for all the help. I've been able to import the tables with positive results. I was wondering for future reference that if i had lets say a single table of 50 degrees of freedom for an arm where each column corresponded to a different motor. Would it be possible to import that data to correspond to each motor in solidworks for each column of data in that table or would I have to separate each column as a separate .csv file and import it individually to each motor? Thank you!
The only way I know of you automate this is to write your own macro to read the csv file and store the data for each specific motor that it reads information for. If you have a header line with the name of the motor, it should be easy to store that as an array and loop through applying the relevant array data to each motor. The SolidWorks API does cover the motion objects.
I managed to animate and plug/verify the direct kinematics and inverse Kinematics with SolidWorks and NI LabVIEW SoftMotion.
As a thesis project I managed to animate a virtual Delta to robot to behave according to real world input through computer vision.
See my youtube channel links:
Write to me if you havent found a solution yet.
In the past i have used three angle mates and three distance mates on the end of arm tool with decent success. The three distance mates go to one point at the end of the last axis and the three angle mates are between the main assembly planes and three planes on the end of arm. Aside from the normal solidworks flipping angle mates randomly it works pretty well. Sometimes you may have to "teach" around certain moves because it causes a joint to fully extend and then flip it's orientation. Attached is an example that I did a couple of years ago in like 2008 I think.
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