How to make the visual shape of delta robot?

Question

question

David Seo asked Feb 9, '17 Jacob Gillespie commented Feb 10, '17

How to make the visual shape of delta robot?

I want to set the visual shape of Delta like spider arms.

I found the model made by Kris Geisberger in the old forum. But I can't display the arms of the delta robot. Kris made to show the spider shape in Custom Draw trigger (The old OnDrawtrigger) only using script. The spider is customized from Crane object.

How can I control to show the arms of it?

or other methods?

It is important to show the spider robot.

small-crane.fsm

deltarobot-demo.fsm

cookiepacker-602-20130802.fsm

Software Version:

Choose One

delta robot spider robot

delta-robot-shape1.png (172.2 KiB)

deltarobot-demo.fsm (80.7 KiB)

cookiepacker-602-20130802.fsm (78.9 KiB)

small-crane.fsm (48.6 KiB)

Answer 1 · 2017-02-09T18:21:31Z

Jacob Gillespie answered Feb 9, '17 Jacob Gillespie commented Feb 10, '17

~~In the Custom Draw trigger, change this:~~

double basex = getvarnum(current,"shellxloc"); double basey = getvarnum(current,"shellyloc"); double basez = getvarnum(current,"shellzloc");
To this:

double basex = xloc(current) + xsize(current)/2; double basey = yloc(current) - ysize(current)/2; double basez = zloc(current) + getvarnum(current,"shellsizez")*4.5;

~~small-crane-edit.fsm~~

The arms are not being drawn because negative values are passed into sqrt() functions.

In the Custom Draw trigger, change this:

double r2 = sqrt(sqr(lowarmlength)-sqr(y-uparmy));//have to determine the radius of the sphere in the intersection plane
//find intersection
double d = sqrt(sqr(x1-x2)+sqr(y1-y2));
double d1 = (sqr(r1)-sqr(r2)+sqr(d)) / (2*d);
double h = sqrt(sqr(r1)-sqr(d1));

To This:

double rSqr = sqr(lowarmlength)-sqr(y-uparmy);
double r2 = 0;//have to determine the radius of the sphere in the intersection plane
if(rSqr > 0)
	r2 = sqrt(rSqr);
//find intersection
double dSqr = sqr(x1-x2)+sqr(y1-y2);
double d = 0;
if(dSqr > 0)
	d = sqrt(dSqr);
double d1 = (sqr(r1)-sqr(r2)+sqr(d)) / (2*d);
double hSqr = sqr(r1)-sqr(d1);
double h = 0;
if(hSqr > 0)
	h = sqrt(hSqr);

deltarobot-v20-edit.fsm

small-crane-edit.fsm (48.5 KiB)

deltarobot-v20-edit.fsm (34.0 KiB)

· 3

David Seo commented · Feb 10, 2017 at 03:53 AM

Thank you @Jacob Gillespie.

One more question, I want to fix the upper base - shoulder - in one position like the fixed resource of flexsim Robot without trolley and gantry moving. Yes. It is same with the spider robot of Kris Geisberger.

Which script line could be edited or variables?

deltarobot-v20.fsm

Or Should I set the fixed coordinates of the delta-robot base in the tasksequence to the robot ?

Or Is it easy to make newly the customized BasicTE?

1 ·

deltarobot-v20.fsm (35.4 KiB)

combiner-using-deltarobot.png (163.3 KiB)