Tutorial: Building a Simple 2-Bar Robot - Robot Structure

In this tutorial, we will walk through the process of creating a simple "2-bar" robot. By following these steps, you will learn the basic workflow of robot creation, structure setup, and parameter configuration without getting bogged down in complex theories.

Goal: Create a 2-link robot named test_robot.

Conceptual Image of a 2-Bar Robot

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Step 1: Create a New Robot

1. Navigate to the Home screen.
2. Click the Create New Robot button.

Click the Create New Robot button

1. In the setup screen:
   • Select EmptyRobot.
   • Enter the name: test_robot.
   • Click Create.

Select EmptyRobot and name it test_robot

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Step 2: Structure Setup (DH Parameters)

We will construct the skeleton of the robot by adding joints and setting their lengths.

1. Add Joints

• Click the + button on the right side of the Joint Section to add two joints.

2. Configure Link 1

Enter the parameters as follows to create a 300mm link along the Y-axis:

Parameter	Value	Unit
theta (\(\theta\))	90	deg
d	0	mm
a	300	mm
alpha (\(\alpha\))	0	mm
Joint Type	Rotation Z	-

Creation of Link 1

3. Configure Link 2

Set up the second link with the following values: - a: 300 - theta, d, alpha: 0 - Joint Type: Rotation Z

Creation of Link 2

4. Verify Movement

Use the Jog tab to ensure the joints rotate correctly. - Jog: Moves the robot. - Jog Reset: Returns the moved robot to its origin.

Jog Control Interface

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Step 3: Dynamics Configuration

Now we apply physical properties to the robot. For this tutorial, simply input the approximate values provided in the screenshots.

Note: For detailed definitions of Coordinate Systems and Mass calculations, please refer to the User Guide.

1. Click Dynamics in the Joint Section.
2. Enter the values for Mass, Center of Mass, and Inertia as shown below.

Link 1 Settings

Link 1 Inertia Settings

Link 2 Settings

Link 2 Inertia Settings

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Step 4: Constraints Setup

Finally, we configure the safety limits and friction parameters.

1. Click the Constraints button in the Joint Section.
2. Match the settings in the images below for each joint.

Joint 1 Constraints

Constraints Settings for Joint 1

Joint 2 Constraints

Constraints Settings for Joint 2

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Summary

Congratulations! You have successfully: 1. Created a robot skeleton using DH parameters. 2. Applied dynamic properties. 3. Configured safety constraints.

Your test_robot is now ready for simulation or control tasks.