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Title:Import Solidworks robot designs into V-REP (CoppeliaSim)
Duration:09:01
Viewed:36,124
Published:17-11-2018
Source:Youtube

The animation in Solidworks is not that advanced and sometimes complicated especially when we use robots, so you can use simulator V-REP instead (sorry it is not open source (just free for students)). This software is very powerful because it can be a C/C++, python, java, Matlab, octave, Lua client. First step: download the SW2URDF exporter : http://wiki.ros.org/sw_urdf_exporter make sure that this software is included in Solidworks Add-Ins -- SW2URDF The KUKA KR16 is not included in the educational version of V-REP, You can download our URDF and v-rep scene from this link : https://drive.google.com/file/d/1PuQB0SMWmqhFPgSWAvAPCUMWUS_Y1IM0/view?usp=sharing โš ๏ธ ๐™‰๐™ค๐™ฉ๐™š๐™จ : โ™œIf you want to get the real axis origins and values in vrep, it is recommended: -to mate the robot to its origin position before saving the URDF file in Solidworks -to mate the robot base with Standard Planes (Front, Top, and Right plane) so that it will be well oriented in the v-rep scene. โ™œThe other method of importing a Solidworks models is: 1- save all its parts as ".stl" files 2-on vrep go to :File-import-Mesh.. and import all the parts 3- create all joints (Add -joint-revolute ) according to the robot documentation. It is a time-consuming method, however, it allows you to get the exact robot axis positions and directions. โ™œ if you want to get different colors of the servos you can link it with a "fixed" relationship (gathering it in the same "link components 1:25" will give it a unique color). โ™œ Importing a CAD file is only 50% of the job. After that, you need to adjust the robot parameters (joints limitations, max speed ...) โ™œ If you want to optimize your Lua code you can rename all joints with the same name+number (eg:joint1, joint2, joint3....) and set the handle function in a "for" loop : ๐˜ง๐˜ฐ๐˜ณ ๐˜ช=1,6,1 ๐˜ฅ๐˜ฐ ๐˜ซ๐˜ฐ๐˜ช๐˜ฏ๐˜ต๐˜๐˜ข๐˜ฏ๐˜ฅ๐˜ญ๐˜ฆ๐˜ด[๐˜ช]=๐˜ด๐˜ช๐˜ฎ.๐˜จ๐˜ฆ๐˜ต๐˜–๐˜ฃ๐˜ซ๐˜ฆ๐˜ค๐˜ต๐˜๐˜ข๐˜ฏ๐˜ฅ๐˜ญ๐˜ฆ('๐˜ซ๐˜ฐ๐˜ช๐˜ฏ๐˜ต'..๐˜ช) ๐˜ฆ๐˜ฏ๐˜ฅ โš ๏ธ๐‘ช๐’๐’Ž๐’Ž๐’๐’ ๐’—๐’Š๐’†๐’˜๐’†๐’“๐’” ๐’‘๐’“๐’๐’ƒ๐’๐’†๐’Ž๐’” : โ™œ I didn't get the right size of the imported STL file: I think this is because of the parameters of Solidworks. For example, in CoppeliaSim, to get the right size of an STL file you need to save it in the Meters unit (save as proprieties: unit: meters): https://drive.google.com/file/d/1R2UwwFKulBlIUhPrJvOmJg-Os1XYIBYv/view?usp=sharing *** โ™œ Please note that this is a personal CAD file and it's note provided by KUKA: https://www.youtube.com/watch?v=xSumVhLwPco โ™œAcapella song: Imagine Dragons - On Top of the World - Peter Hollens & Mike Tompkins https://www.youtube.com/watch?v=QYVwqJCIdR0 ๐Ÿ“› Our Facebook page : https://www.facebook.com/Mechatronics-Ninja-1601353846600883/



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