Hi! I am dealing with a student project, where I have to program the IRB 140 robot to shift and select different gears in a particular gear stick lever. I have no experience with industrial robots like this. I have now gained minimal/basic insight in RobotStudio, and jogging the robot with Flexpendant also.
Can anyone please help me to program movements that resembles gear shift lever movements from gear 1 - 6 + Reverse ?
Maybe use MoveC? But I couldn't define path because "path uncertain". Do I have to use a CirPoint? How ?
I got the CAD model of the shifter, and need to place the TCP at the middle of the "rotating ball" at the bottom of the lever.
All parts of the shifter and fixtures CAD model moves independently. I need the marked components at attachment4 to move together, and in circular movements that is like real-world gear selection movements.
When I inserted the CAD model, everything is placed sideways like in the attachment 1. I rotated it 90 degrees, but it is not aligned with the UCS. I don't know how I can mount the robot on the table by attaching them together, without moving it manually on the top of the table.
How can I place the table's foots on the UCS? Is that so important?
Thanks in advance