Kinematiq SAS RhinoRobot3 User Manual Download

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Rhino

Robot

User Manual

2/32

Table of contents

Getting started................................................................................................................................................................ 4

What is RhinoRobot? .................................................................................................................................................. 4

System requirements ................................................................................................................................................. 4

Installation .................................................................................................................................................................. 4

First start ..................................................................................................................................................................... 4

License ........................................................................................................................................................................ 4

User Interface ................................................................................................................................................................. 5

Displaying RhinoRobot ............................................................................................................................................... 5

The Movements tab ................................................................................................................................................... 6

The Configuration tab ................................................................................................................................................. 7

The Export tab ............................................................................................................................................................ 8

Starting a project ............................................................................................................................................................ 9

Load a robot ................................................................................................................................................................ 9

Setting up a tool ....................................................................................................................................................... 11

Setting up multiple tools and bases ......................................................................................................................... 13

Setting up external axis ............................................................................................................................................ 14

Linear axis ............................................................................................................................................................. 14

Rotary axis ............................................................................................................................................................ 15

Setting up a remote TCP ........................................................................................................................................... 16

Moving the Robot ......................................................................................................................................................... 17

Cartesian movement ................................................................................................................................................ 17

Articular movement .................................................................................................................................................. 17

Programmed movement .......................................................................................................................................... 18

Programming a toolpath............................................................................................................................................... 18

Selections .................................................................................................................................................................. 19

Selecting curves .................................................................................................................................................... 19

Selecting a mesh ................................................................................................................................................... 19

Selecting points..................................................................................................................................................... 20

Frame options ........................................................................................................................................................... 21

Frames type .......................................................................................................................................................... 21

Distance between frames ..................................................................................................................................... 21

Frames at kinks ..................................................................................................................................................... 21

Rotation offset ...................................................................................................................................................... 21

Recording positions .................................................................................................................................................. 22

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

Summary of Contents for RhinoRobot3

Page 1: ...RhinoRobot3 User Manual...

Page 2: ...tting up external axis 14 Linear axis 14 Rotary axis 15 Setting up a remote TCP 16 Moving the Robot 17 Cartesian movement 17 Articular movement 17 Programmed movement 18 Programming a toolpath 18 Sele...

Page 3: ...Rights Reserved Customizing the RhinoRobot interface 27 Customizing the Post processor 28 Project naming and Post Processor matching 28 Simulating the toolpath 29 Testing different axes configurations...

Page 4: ...et connection for installation and activation Multiple button mouse with scroll wheel is recommended Operating systems Windows 10 64 bits with licensed Rhinoceros 6 Installation If you don t already h...

Page 5: ...ved User Interface Displaying RhinoRobot 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 pan...

Page 6: ...anel of Rhinoceros see the Record Position Section page 22 and can be used to build a toolpath Joint A1 A2 A3 A4 A5 A6 fields to enter articular positions E1 E2 fields to enter external axis positions...

Page 7: ...Configuration E1 E2 Select if you want a linear or rotary configuration and if the target axis must be continuously aligned with the CPlane axis External TCP Flag to set the robot motions as referring...

Page 8: ...ration mm s Vel field to set the velocity mm s Sm field to set the smoothing mm s Export Export the robot program Export File path Set the file path for the robot program export Run Collision check pe...

Page 9: ...os is launched first click on the RhinoRobot panel or type RhinoRobot in the command line In RhinoRobot Open the ready made 3dm file of your robot Robot files are available here https www kinematiq ne...

Page 10: ...ogramming part Those two files are connected through their name You should always open and save the Rhinoceros 3dm file via the RhinoRobot Panel so that its Grasshopper counterpart can be opened at th...

Page 11: ...eometries or import as a block and then explode it Make sure the robot is at his default angle by clicking on the reset position in the RhinoRobot panel then place the tool on the robot flange using t...

Page 12: ...elect the already existing RR_TCP plane Type CPlane in the command line and place the plane where you want it to be on your TCP Orient it the way you want with the rotate CPlane command in the CPlane...

Page 13: ...downloaded from us to change it or add multiple bases follow the same process as for the tools just name your blocks RR_Base and then RR_Base_1 RR_Base_2 and define their corresponding named CPlanes R...

Page 14: ...no World 0 as the base point Name it appropriately RR_E1 or RR_E2 more coming on this subject set up a dedicated named CPlane RR_E1 or RR_E2 You can configure one or two external axes which can be lin...

Page 15: ...020 All Rights Reserved 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...

Page 16: ...port your geometries set them in place and create a block with Rhino World 0 as the base point Name it accordingly RR_Tool What changes is that the CPlane RR_Tool you will set is not on the RR_Tool Rh...

Page 17: ...020 All Rights Reserved 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...

Page 18: ...This is covered in detail in the following Programming a toolpath section Programming a toolpath RhinoRobot consists of a Grasshopper program interacting with a Rhinoceros 3D interface You can theref...

Page 19: ...rate a toolpath based on the curve s you select and optionally a supporting mesh Selecting a mesh Depending on the Frames type you choose you may need to select a mesh The selected mesh must be a sing...

Page 20: ...20 32 Kinematiq SAS 2015 2020 All Rights Reserved 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 s...

Page 21: ...frames Z axes will be aligned with the mesh normals If you have selected points you have to select points as a Frames type If you choose Read file as a Frames type you will be prompted for a file con...

Page 22: ...position button You can record as many positions as you want Each time you save a position it is saved as a named CPlane as RR_Pos_xxx and it is linked through a line to the previous position If you s...

Page 23: ...ded positions Named CPlanes are listed and editable in the Named Views panel of Rhinoceros You can also copy and paste CPlanes and edit their positions You will have to accurately rename the copied CP...

Page 24: ...sshopper icon or typing grasshopper in the command line A RhinoRobot definition consists of two main Grasshopper clusters a cluster is a program within a Grasshopper definition The first one called Fr...

Page 25: ...uster called RR_Targets and also a path for the file export It contains the post processor specific to your robot or robot brand To enter a cluster just double click on its name The name of the parame...

Page 26: ...t panel Customizing your toolpath You can also very easily customize or replace the default toolpath set of frames created by the Frames cluster For example you can add approach and retraction points...

Page 27: ...you can add as many publishable components as you like To edit your custom tab click on the Grasshopper panel of Rhinoceros and click on the edit button in the top right corner It is also possible to...

Page 28: ...by adding custom commands sub programs etc Project naming and Post Processor matching When you open a 3dm file via the RhinoRobot panel it first looks for its Grasshopper counterpart a file with the s...

Page 29: ...ab You will find a Display group of features Frame axis length is self explanatory and allows you to hide or enhance the frames display You can also simply scroll the simulation track bar or press pla...

Page 30: ...Reserved 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 t...

Page 31: ...eath at the end of the check In this collision check you have the possibility to add any chosen geometry that will be tested for collision with the tool Note that the robot itself the tool and the ext...

Page 32: ...ogram 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 di...

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