Class MechanismBuilder

Inheritance

object

MechanismBuilder

Namespace: ABB.Robotics.RobotStudio.Stations

Assembly: ABB.Robotics.RobotStudio.Stations.dll

Syntax

public sealed class MechanismBuilder

Examples

Build a mechanism.

Project.UndoContext.BeginUndoStep("Build IRB140");
try
{
// Create the different parts of the robot.
Part Base = new Part();
Part Link1 = new Part();
Part Link2 = new Part();
Part Link3 = new Part();
Part Link4 = new Part();
Part Link5 = new Part();
Part Link6 = new Part();
            // Start the mechanism builder to build a robot.
            MechanismBuilder mb = new MechanismBuilder(MechanismType.Robot);

            // Set the name of the robot.
            mb.ModelName = "IRB140_M2000";

            // Add the links to the mechanism.
            mb.AddLink("Base", Base);
            mb.AddLink("Link1", Link1);
            mb.AddLink("Link2", Link2);
            mb.AddLink("Link3", Link3);
            mb.AddLink("Link4", Link4);
            mb.AddLink("Link5", Link5);
            mb.AddLink("Link6", Link6);

            // Set the base link.
            mb.BaseLink = "Base";

            // Add joints to the mechanism (connects the parts with each other).
            mb.AddJoint("J1", "Base", "Link1", new Vector3(0, 0, 0), new Vector3(0, 0, 0.117), JointType.Rotational, true);
            mb.AddJoint("J2", "Link1", "Link2", new Vector3(0.070, -0.109, 0.352), new Vector3(0.070, -0.108, 0.352), JointType.Rotational, true);
            mb.AddJoint("J3", "Link2", "Link3", new Vector3(0.070, -0.073, 0.712), new Vector3(0.070, -0.072, 0.712), JointType.Rotational, true);
            mb.AddJoint("J4", "Link3", "Link4", new Vector3(0.3075, 0, 0.712), new Vector3(0.3085, 0, 0.712), JointType.Rotational, true);
            mb.AddJoint("J5", "Link4", "Link5", new Vector3(0.450, 0.030, 0.712), new Vector3(0.450, 0.031, 0.712), JointType.Rotational, true);
            mb.AddJoint("J6", "Link5", "Link6", new Vector3(0.515, 0, 0.712), new Vector3(0.516, 0, 0.712), JointType.Rotational, true);

            // Set the limits of the joints (in radians).
            mb.SetJointLimit("J1", -180 * System.Math.PI / 180, 180 * System.Math.PI / 180);
            mb.SetJointLimit("J2", -90 * System.Math.PI / 180, 110 * System.Math.PI / 180);
            mb.SetJointLimit("J3", -230 * System.Math.PI / 180, 50 * System.Math.PI / 180);
            mb.SetJointLimit("J4", -200 * System.Math.PI / 180, 200 * System.Math.PI / 180);
            mb.SetJointLimit("J5", -120 * System.Math.PI / 180, 120 * System.Math.PI / 180);
            mb.SetJointLimit("J6", -400 * System.Math.PI / 180, 400 * System.Math.PI / 180);

            // Add flange.
            Matrix4 flangeOffset = new Matrix4(new Vector3(0, 0, -1), new Vector3(0, 1, 0), new Vector3(1, 0, 0), new Vector3(0.515, 0, 0.712));
            mb.AddFlange("wrist", "Link6", flangeOffset, false);

            // Set the base frame.
            mb.BaseFrame = Matrix4.Identity;

            // Set the home position.
            double[] homeJointsPos = { 0, 0, 0, 0, 30 * System.Math.PI / 180, 0 };
            mb.SetSyncJointPosition(homeJointsPos);

            // Set the calibration position.
            Matrix4[] calibPos = { Matrix4.Identity };
            mb.SetCalibrationPosition(calibPos);

            // Set the joint mask (the active joints).
            int[] jointMask = { 1, 1, 1, 1, 1, 1 };
            mb.SetJointMask(jointMask);

            // Create the mechanism (compile it), and set its name.
            Mechanism mech = mb.CompileMechanism();
            mech.Name = "MyIRB140";

            // Add it to the station.
            Station station = Station.ActiveStation;
            station.GraphicComponents.Add(mech);
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>

Constructors

View Source

MechanismBuilder(MechanismType)

Declaration

public MechanismBuilder(MechanismType mechanismType)

Parameters

Type	Name	Description
MechanismType	mechanismType

View Source

MechanismBuilder(MechanismType, KinematicsFlags)

Declaration

public MechanismBuilder(MechanismType mechanismType, KinematicsFlags kinFlags)

Parameters

Type	Name	Description
MechanismType	mechanismType
KinematicsFlags	kinFlags

Properties

View Source

BaseFrame

Declaration

public Matrix4 BaseFrame { get; set; }

Property Value

Type	Description
Matrix4

View Source

BaseLink

Gets or sets the base link. This is where the "calculation chain" starts.

Declaration

public string BaseLink { get; set; }

Property Value

Type	Description
string	Name of the base link.

Remarks

Link must be added with AddLink before setting it as base link.

View Source

DefaultControllerName

Declaration

[Obsolete("Not used")]
[ExcludeFromCodeCoverage]
public string DefaultControllerName { get; set; }

Property Value

Type	Description
string

View Source

DefaultControllerVersion

Declaration

[Obsolete("Not used")]
[ExcludeFromCodeCoverage]
public string DefaultControllerVersion { get; set; }

Property Value

Type	Description
string

View Source

KinematicBaseFrame

Declaration

public Matrix4 KinematicBaseFrame { get; set; }

Property Value

Type	Description
Matrix4

View Source

KinematicsFlags

Specifies the kinematics type and additional properties for a robot mechanism.

Declaration

public KinematicsFlags KinematicsFlags { get; set; }

Property Value

Type	Description
KinematicsFlags

View Source

Mass

Declaration

[Obsolete("Use SetLoadData() to specify load")]
public double Mass { get; set; }

Property Value

Type	Description
double

View Source

MechanismType

Declaration

public MechanismType MechanismType { get; }

Property Value

Type	Description
MechanismType

View Source

ModelName

Gets or sets the model name.

Declaration

public string ModelName { get; set; }

Property Value

Type	Description
string	Name of model.

View Source

Name

Gets or sets the name of mechanism.

Declaration

public string Name { get; set; }

Property Value

Type	Description
string	Name of mechanism.

Methods

View Source

AddFlange(string, string, Matrix4, bool)

Declaration

public void AddFlange(string flangeName, string linkName, Matrix4 offset, bool local)

Parameters

Type	Name	Description
string	flangeName
string	linkName
Matrix4	offset
bool	local

View Source

AddFrame(string, Matrix4, FrameType)

Declaration

public void AddFrame(string frameName, Matrix4 offset, FrameType type)

Parameters

Type	Name	Description
string	frameName
Matrix4	offset
FrameType	type

View Source

AddJoint(string, string, string, Vector3, Vector3, JointType, bool)

Adds a rotational or linear joint specified as an axis between two vectors to a mechanism A joint connects two links, as a parent and child, in a kinematic chain.

Declaration

public void AddJoint(string jointName, string parentLinkName, string childLinkName, Vector3 axis1, Vector3 axis2, JointType jointType, bool isActive)

Parameters

Type	Name	Description
string	jointName	The name must be unique for this mechanism.
string	parentLinkName	The name of the parent link in the chain.
string	childLinkName	The name of the child link in the chain.
Vector3	axis1	The first point of the joint axis.
Vector3	axis2	The second point of the joint axis.
JointType	jointType	Prismatic for motion along an axis, Rotational for rotation around an axis.
bool	isActive	Set to true to add an active joint that controls the movement of the child link. Set to false to add a passive joint that simply follws the movement of the parent and child link. In forward kinematics you can specify a value of an active joint, you can think of it as if it has a motor which can move it, whereas the passive joint has no motor and you cannot specify which joint value it should have.

View Source

AddJoint(string, string, string, Vector3, Vector3, JointType, bool, double?)

Adds a rotational or linear joint specified as an axis between two vectors to a mechanism A joint connects two links, as a parent and child, in a kinematic chain.

Declaration

public void AddJoint(string jointName, string parentLinkName, string childLinkName, Vector3 axis1, Vector3 axis2, JointType jointType, bool isActive, double? modelOffset)

Parameters

Type	Name	Description
string	jointName	The name must be unique for this mechanism.
string	parentLinkName	The name of the parent link in the chain.
string	childLinkName	The name of the child link in the chain.
Vector3	axis1	The first point of the joint axis.
Vector3	axis2	The second point of the joint axis.
JointType	jointType	Prismatic for motion along an axis, Rotational for rotation around an axis.
bool	isActive	Set to true to add an active joint that controls the movement of the child link. Set to false to add a passive joint that simply follws the movement of the parent and child link. In forward kinematics you can specify a value of an active joint, you can think of it as if it has a motor which can move it, whereas the passive joint has no motor and you cannot specify which joint value it should have.
double?	modelOffset	Offset between the joint value in the model and in the controller, see SetJointModelOffset(int, double). This is overridden when the mechanism is connected to a controller.

View Source

AddLink(string, GraphicComponent)

Adds a link to be a member of the mechanism.

Declaration

public void AddLink(string linkName, GraphicComponent linkPart)

Parameters

Type	Name	Description
string	linkName	A name to identify the link.
GraphicComponent	linkPart	A component which will become a link.

View Source

AddToolData(string, string, Matrix4)

Declaration

public void AddToolData(string toolDataName, string linkName, Matrix4 offset)

Parameters

Type	Name	Description
string	toolDataName
string	linkName
Matrix4	offset

View Source

AddToolData(string, string, Matrix4, Vector3, Vector3)

Declaration

[Obsolete("Use SetLoadData() to specify load")]
[ExcludeFromCodeCoverage]
public void AddToolData(string toolDataName, string linkName, Matrix4 offset, Vector3 centerOfGravity, Vector3 centerOfInertia)

Parameters

Type	Name	Description
string	toolDataName
string	linkName
Matrix4	offset
Vector3	centerOfGravity
Vector3	centerOfInertia

View Source

CompileMechanism()

When all data, Links, Joints etc. are set to the modeler call CompileMechanism.

Declaration

public Mechanism CompileMechanism()

Returns

Type	Description
Mechanism	The mechanism instance.

Examples

Build a mechanism.

Project.UndoContext.BeginUndoStep("Build IRB140");
try
{
// Create the different parts of the robot.
Part Base = new Part();
Part Link1 = new Part();
Part Link2 = new Part();
Part Link3 = new Part();
Part Link4 = new Part();
Part Link5 = new Part();
Part Link6 = new Part();
            // Start the mechanism builder to build a robot.
            MechanismBuilder mb = new MechanismBuilder(MechanismType.Robot);

            // Set the name of the robot.
            mb.ModelName = "IRB140_M2000";

            // Add the links to the mechanism.
            mb.AddLink("Base", Base);
            mb.AddLink("Link1", Link1);
            mb.AddLink("Link2", Link2);
            mb.AddLink("Link3", Link3);
            mb.AddLink("Link4", Link4);
            mb.AddLink("Link5", Link5);
            mb.AddLink("Link6", Link6);

            // Set the base link.
            mb.BaseLink = "Base";

            // Add joints to the mechanism (connects the parts with each other).
            mb.AddJoint("J1", "Base", "Link1", new Vector3(0, 0, 0), new Vector3(0, 0, 0.117), JointType.Rotational, true);
            mb.AddJoint("J2", "Link1", "Link2", new Vector3(0.070, -0.109, 0.352), new Vector3(0.070, -0.108, 0.352), JointType.Rotational, true);
            mb.AddJoint("J3", "Link2", "Link3", new Vector3(0.070, -0.073, 0.712), new Vector3(0.070, -0.072, 0.712), JointType.Rotational, true);
            mb.AddJoint("J4", "Link3", "Link4", new Vector3(0.3075, 0, 0.712), new Vector3(0.3085, 0, 0.712), JointType.Rotational, true);
            mb.AddJoint("J5", "Link4", "Link5", new Vector3(0.450, 0.030, 0.712), new Vector3(0.450, 0.031, 0.712), JointType.Rotational, true);
            mb.AddJoint("J6", "Link5", "Link6", new Vector3(0.515, 0, 0.712), new Vector3(0.516, 0, 0.712), JointType.Rotational, true);

            // Set the limits of the joints (in radians).
            mb.SetJointLimit("J1", -180 * System.Math.PI / 180, 180 * System.Math.PI / 180);
            mb.SetJointLimit("J2", -90 * System.Math.PI / 180, 110 * System.Math.PI / 180);
            mb.SetJointLimit("J3", -230 * System.Math.PI / 180, 50 * System.Math.PI / 180);
            mb.SetJointLimit("J4", -200 * System.Math.PI / 180, 200 * System.Math.PI / 180);
            mb.SetJointLimit("J5", -120 * System.Math.PI / 180, 120 * System.Math.PI / 180);
            mb.SetJointLimit("J6", -400 * System.Math.PI / 180, 400 * System.Math.PI / 180);

            // Add flange.
            Matrix4 flangeOffset = new Matrix4(new Vector3(0, 0, -1), new Vector3(0, 1, 0), new Vector3(1, 0, 0), new Vector3(0.515, 0, 0.712));
            mb.AddFlange("wrist", "Link6", flangeOffset, false);

            // Set the base frame.
            mb.BaseFrame = Matrix4.Identity;

            // Set the home position.
            double[] homeJointsPos = { 0, 0, 0, 0, 30 * System.Math.PI / 180, 0 };
            mb.SetSyncJointPosition(homeJointsPos);

            // Set the calibration position.
            Matrix4[] calibPos = { Matrix4.Identity };
            mb.SetCalibrationPosition(calibPos);

            // Set the joint mask (the active joints).
            int[] jointMask = { 1, 1, 1, 1, 1, 1 };
            mb.SetJointMask(jointMask);

            // Create the mechanism (compile it), and set its name.
            Mechanism mech = mb.CompileMechanism();
            mech.Name = "MyIRB140";

            // Add it to the station.
            Station station = Station.ActiveStation;
            station.GraphicComponents.Add(mech);
        }
        catch
        {
            Project.UndoContext.CancelUndoStep(CancelUndoStepType.Rollback);
            throw;
        }
        finally
        {
            Project.UndoContext.EndUndoStep();
        }</code></pre>

View Source

InternalSetConveyorJointLimits(double, double)

Declaration

public void InternalSetConveyorJointLimits(double minLimit, double maxLimit)

Parameters

Type	Name	Description
double	minLimit
double	maxLimit

View Source

SetAttachmentPoints(Matrix4[])

Sets an array of matrices that will become the frames used for attaching parts and workobjects on a conveyor tracking mecahnism.

Declaration

[Obsolete("Use AddFrame() instead")]
public void SetAttachmentPoints(Matrix4[] attachmentPoints)

Parameters

Type	Name	Description
Matrix4[]	attachmentPoints	An array of Matrix4 representing the positions of the attachment points of the conveyor mechanism.

View Source

SetCalibrationPosition(Matrix4[])

Declaration

public void SetCalibrationPosition(Matrix4[] calibrationPoints)

Parameters

Type	Name	Description
Matrix4[]	calibrationPoints

View Source

SetDependency(string, string)

Sets an expression to calculate a joints value that depend on other joint values.

Declaration

public void SetDependency(string jointName, string expression)

Parameters

Type	Name	Description
string	jointName	A name to identify the joint.
string	expression	A string containig an expression.

View Source

SetDependency(string, string, double)

Declaration

public void SetDependency(string jointName, string leadJoint, double factor)

Parameters

Type	Name	Description
string	jointName
string	leadJoint
double	factor

View Source

SetJointLimit(string, double, double)

Declaration

public void SetJointLimit(string jointName, double minLimit, double maxLimit)

Parameters

Type	Name	Description
string	jointName
double	minLimit
double	maxLimit

View Source

SetJointLimit(string, double, double, double[])

Declaration

public void SetJointLimit(string jointName, double minLimit, double maxLimit, double[] points)

Parameters

Type	Name	Description
string	jointName
double	minLimit
double	maxLimit
double[]	points

View Source

SetJointMask(int[])

This method sets a mask that defines which joints that are used for mechanism being built. The mask is specified as an array of integers. The length of the array must be at least 6. Each element specifies if the corresponding axis is used or not. The value 0 means not used and the value 1 means used. For example the array {1,1,1,1,0,1} means that all axis except axis 5 are used.

Declaration

public void SetJointMask(int[] maskValues)

Parameters

Type	Name	Description
int[]	maskValues	An array of integers with mask values that specifies if a joint with the same number as the position in the array is used or not.

Exceptions

Type	Condition
ArgumentException
ArgumentNullException

SetLoadData(double, Vector3, Quaternion, Vector3)

Declaration

public void SetLoadData(double mass, Vector3 centerOfGravity, Quaternion axesOfMoment, Vector3 inertia)

Parameters

Type	Name	Description
double	mass
Vector3	centerOfGravity
Quaternion	axesOfMoment
Vector3	inertia

View Source

SetSyncJointPosition(double[])

Sets the defined sync position in form of a collection of values. The number of values are 0-6 depending on the number of joints used for the mechanism beeing built.

Declaration

public void SetSyncJointPosition(double[] jointValues)

Parameters

Type	Name	Description
double[]	jointValues

View Source

SetWorkRange(Vector3, Vector3)

Declaration

[Obsolete("Not used")]
public void SetWorkRange(Vector3 minRange, Vector3 maxRange)

Parameters

Type	Name	Description
Vector3	minRange
Vector3	maxRange

View Source

ValidateDependencyExpression(string[], string)

Declaration

public bool ValidateDependencyExpression(string[] jointNames, string expression)

Parameters

Type	Name	Description
string[]	jointNames
string	expression

Returns

Type	Description
bool