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Kinematiq SAS RhinoRobot3 User Manual

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RhinoRobot
3
User Manual

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Summary of Contents for Kinematiq SAS RhinoRobot3

  • Page 1 RhinoRobot User Manual...

  • Page 2: Table Of Contents

    Editing recorded positions ............................23 Customizing your RhinoRobot ............................24 Anatomy of your Grasshopper project file ....................... 24 Directly feeding geometry to the Grasshopper part of RhinoRobot ................ 26 Customizing your toolpath ............................26 2/32 Kinematiq SAS 2015-2020. All Rights Reserved.
  • Page 3 Customizing the Post-processor ..........................28 Project naming and Post-Processor matching ......................28 Simulating the toolpath ..............................29 Testing different axes configurations ........................30 Running a collision check ............................31 Exporting the program ..............................32 3/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 4: Getting Started

    Feel free to contact us if you have any trouble or question. For a quick start up, go to page 9, "Starting a project". License RhinoRobot comes with a 30-day trial license, activation is automatic at first start, after accepting the EULA. 4/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 5: User Interface

    The RhinoRobot installation file will install the user interface inside Rhinoceros 3D. To display the user interface panel, you can either right click in the panels area and check RhinoRobot, or type “RhinoRobot” in the command line. 5/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 6: The Movements Tab

    Frames at kinks: Flag to force targets at kinks positions Rx, Ry, Rz offset: fields to enter a rotation offset of the frames (in degrees) Play/Pause: Play and pause the simulation at the theoretical speed set in the Export tab 6/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 7: The Configuration Tab

    Frame Axis length: field to enter the length of the displayed axis frames Simulation steps: distance between each step displayed between two programmed targets License check: field to check the state of your license 7/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 8: The Export Tab

    Export: Export the robot program Export File path: Set the file path for the robot program export Run Collision check: performs a collision check Error field: Displays a list of errors (singularities, axis limits, distance limits, collisions…) 8/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 9: Starting A Project

    In RhinoRobot, Open the ready-made .3dm file of your robot. Robot files are available here https://www.kinematiq.net/rhinorobot/telechargement/ If your robot is not there, please contact us, we will make it available as soon as possible. 9/32 Kinematiq SAS 2015-2020. All Rights Reserved.
  • Page 10 .iges .lwo .dgn .udo .fbx .scn .obj .csv .x_t .pdf .ply .asc, .csv, .xyz, .cgo_ascii,.cgo_asci, .pts .txt .raw .m .rib .svg .skp .slc .sldprt, .sldasm .stp, .step .stl .vda .wrl, .vrml, .vi .gdf .wmf .x3dv .xaml .xgl .zpr 10/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 11: Setting Up A Tool

    Once it is in place, select the tool geometries and type “block” in the command line, type 0 and press Enter to set (Rhino World 0) as the base point and name your block “RR_Tool”, replacing the default existing block. 11/32 Kinematiq SAS 2015-2020. All Rights Reserved.
  • Page 12 RR_TCP in the list of the Named CPlanes and select “Save current CPlane as named CPlane”. Save the project, the tool is now attached and moves as you move the robot. 12/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 13: Setting Up Multiple Tools And Bases

    In Grasshopper, you can get the tool and base number by using two Integer variables named “RR_ToolNbr” and “RR_BaseNbr”. They will be automatically affected when you change those numbers from the RhinoRobot interface. 13/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 14: Setting Up External Axis

    The linear axis has to be named RR_E1 since RR_E2 is a fixed rotary axis (as in the above image). The linear axis must move along the y axis (green) direction of the named CPlane. 14/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 15: Rotary Axis

    The rotary axis must rotate around the Z axis (blue) of the named CPlane. The rotary axis can be named E1 or E2, if you name it E1 you have to specify that E1 is rotary in the configuration tab of the RhinoRobot panel. 15/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 16: Setting Up A Remote Tcp

    All the frames of the kinematic are calculated by reference to the robot flange, so you have to set up the curves, mesh or points in place on the tool with the robot in his default position. 16/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 17: Moving The Robot

    There are three ways to move the robot. Cartesian movement You can enter Cartesian coordinates as well as Roll, Pitch and Yaw. Articular movement You can interact with the Joint handles or enter articular values. 17/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 18: Programmed Movement

    RhinoRobot consists of a Grasshopper program interacting with a Rhinoceros 3D interface. You can therefore very easily integrate any Grasshopper definition to it and generate your custom toolpath. See ‘Anatomy of your grasshopper project file’ for more information. 18/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 19: Selections

    Depending on the Frames type you choose, you may need to select a mesh. The selected mesh must be a single joint mesh, and for good results it’s better to have a finely defined mesh with all its normals directions well aligned. 19/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 20: Selecting Points

    User Manual RhinoRobot Selecting points RhinoRobot will generate a toolpath based on the selected points. The order will be the selection order, or the historical one if you select a group of points. 20/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 21: Frame Options

    Rotation offset If you need to adjust the orientation of your curve frames, you can use the rotations’ offsets of -180/+180 around the X, Y and Z axes. 21/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 22: Recording Positions

    If you select ‘Saved position (CPlane)’ as a “Frames type” in the programmed movement part the TCP will follow a toolpath consisting in a polyline between all your saved positions. 22/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 23: Editing Recorded Positions

    You can also copy and paste CPlanes and edit their positions. You will have to accurately rename the copied CPlane for it to be treated as a Saved position for a toolpath. The pattern is RR_Pos_XXX. 23/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 24: Customizing Your Rhinorobot

    The first one, called ‘Frames’, is where and how the frames are constructed. Its INPUT parameters are primarily a list of geometries and other values passed on by the interface (the RhinoRobot Rhino panel). Its OUTPUT parameter is a list of frames. 24/32 Kinematiq SAS 2015-2020. All Rights Reserved.
  • Page 25 The name of the parameters is what allows the passing of the values between the interface and the Grasshopper definition, for example the ‘Frames’ cluster is listening for some curves that the interface might pass on via a RR_Curves parameter. 25/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 26: Directly Feeding Geometry To The Grasshopper Part Of Rhinorobot

    This component is the one that RhinoRobot will “listen to” for changes and where it will load the list of targets from, in order to simulate them via the interface. This link between the “RR_Targets” component and the RhinoRobot interface is established when you open a project via the “Open” button. 26/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 27: Customizing The Rhinorobot Interface

    RhinoRobot to your client with a custom machine, or if you need a lot of new controls and don’t need the default ones. This is made possible by the use of the RhinoRobot_Core API that you (or we!) can include in your custom Rhinoceros plugin. Contact us for more information on the subject. 27/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 28: Customizing The Post-Processor

    -if it cannot find it, it looks into the filename for the brand name of a robot, before a ‘_’ character -if it cannot find a match, a generic post-processor file named Other.gh which contains a standard points and vectors post processor is opened. 28/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 29: Simulating The Toolpath

    Export tab. Note that if your computer is not capable of rendering the robot positions at this set speed, the displayed simulation will be slower than reality. To get a more accurate simulation speed you can render your simulation in “Wireframe” view. 29/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 30: Testing Different Axes Configurations

    You can test up to 8 different axes configurations to find the best one for your program (note that depending on your robot type and the chosen movement types, this axes configuration may not be chosen by the real robot). 30/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 31: Running A Collision Check

    Note that the robot itself, the tool and the external axis geometry are already included in this collision check. As it tests every single simulation step for collision, this check can take very long, depending on the length of your toolpath and computer power. 31/32 Kinematiq SAS 2015-2020. All Rights Reserved.

  • Page 32: Exporting The Program

    When you are done with your frames construction, and satisfied with the simulation, you can set the acceleration, the velocity and the smoothing for the toolpath, a theoretical cycle time is also displayed. You can export your program as a robot program file by clicking the Export button. 32/32 Kinematiq SAS 2015-2020. All Rights Reserved.

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