Hi all,

 

Right now I want to build my own robot arm. I have done the most part of robot arm. The only problem is that when I insert my gripper to the top level assembly, the gear mate doesn't work. The left and right sides of gripper seem to be locked and two pieces will rotate towards the same direction rather than the opposite direction.

 

I searched some related issues but couldn't find a solution. My assembly are all float in the top level. No one is fixed.

 

Thank you for any help in advance. The attachment is the pic of my robot arm. Please let me know if you need any files to reproduce the problem.


Categories: General, MySolidWorks

Comments
Last comment By: Ruinian Xu   Wed, 28 Mar 2018 15:18:42 GMT
Re: gear mate works in sub-assembly but doesn't work in top level

RMB on your sub assembly in the tree and select Component Properties. 

 

Then make your sub assembly Flexible in the top assembly.

 

Then try it again.

By: Dan Pihlaja  Mon, 26 Mar 2018 20:57:02 GMT
Re: gear mate works in sub-assembly but doesn't work in top level

Dan is fast and accurate.  His is the right advice.

By: Dennis Dohogne  Mon, 26 Mar 2018 21:02:47 GMT
Re: gear mate works in sub-assembly but doesn't work in top level

It works. Thank you so much for your help!

By: Ruinian Xu  Mon, 26 Mar 2018 21:09:32 GMT
Re: gear mate works in sub-assembly but doesn't work in top level

Hi Dan,

 

Do you have experience of converting solidwork into urdf? The gear mate works in solidworks but after I converted the model to urdf and loaded it in ROS(robotic operating system), the two pieces of gripper rotated towards the same direction when I adjust the value of the corresponding motor. Do you have any idea about this problem?

 

Thanks.

By: Ruinian Xu  Mon, 26 Mar 2018 21:24:02 GMT
Re: gear mate works in sub-assembly but doesn't work in top level

Ruinian Xu  wrote:

 

Hi Dan,

 

Do you have experience of converting solidwork into urdf? The gear mate works in solidworks but after I converted the model to urdf and loaded it in ROS(robotic operating system), the two pieces of gripper rotated towards the same direction when I adjust the value of the corresponding motor. Do you have any idea about this problem?

 

Thanks.

 

I do not.   In fact, I had to look up URDF to even know what it meant.  LOL

 

Anyway, I would assume that mates would not come through very well into a separate program (assuming that is what you are doing), especially advanced and mechanical mates.

By: Dan Pihlaja  Tue, 27 Mar 2018 12:12:55 GMT
Re: gear mate works in sub-assembly but doesn't work in top level

Anyway, thank you so much for your reply.

By: Ruinian Xu  Tue, 27 Mar 2018 15:09:19 GMT
Re: gear mate works in sub-assembly but doesn't work in top level

Actually it's simpler than right-clicking and going to Properties.  There's an icon for making sub-assemblies flexible when you click on the file name in the tree.  See I inserted my movable Assembly into another Assembly and now it won’t move.  What happened? for a screenshot.

By: Glenn Schroeder  Tue, 27 Mar 2018 15:39:58 GMT
Re: gear mate works in sub-assembly but doesn't work in top level

Hi Dan,

 

Actually before when I tried to find out how to solve problem of gear mate in URDF, I found the gear mate in the top level worked sometimes but also might not work even I set the sub assembly flexible. I first drew two tangent circles and made two pieces concentric to that two circles. Then I set gear mate to the gripper and add the gripper to the top level assembly. Is this the right configuration?

 

Thanks

By: Ruinian Xu  Tue, 27 Mar 2018 15:45:06 GMT
Re: gear mate works in sub-assembly but doesn't work in top level

Can you share the assembly so that we can look at it here?  Use pack and go into a zip file and attach the zip file.

By: Dan Pihlaja  Tue, 27 Mar 2018 16:30:44 GMT
Re: gear mate works in sub-assembly but doesn't work in top level

The finalarm_nonhinge_new.SLDASM in the assembly/finalarm folder is the top assembly. Dropbox - handy_v2.rar 

By: Ruinian Xu  Tue, 27 Mar 2018 18:19:37 GMT
Re: gear mate works in sub-assembly but doesn't work in top level

Is it possible for you to attach is here instead (Dropbox is also blocked here.  LOL). 

 

How can I attach a file to a forum post?

By: Dan Pihlaja  Tue, 27 Mar 2018 18:21:32 GMT
Re: gear mate works in sub-assembly but doesn't work in top level

Is it enough for you to reproduuce the problem by just the top assembly? I tried to attach the zip file which contains the whole folder but it is too big. Here is the final assembly and other 9 parts sub assemblies.

By: Ruinian Xu  Tue, 27 Mar 2018 18:29:42 GMT
Re: gear mate works in sub-assembly but doesn't work in top level

Sorry....it is looking for the parts.

 

Maybe someone with access to Dropbox can help you.  Sorry mate.

By: Dan Pihlaja  Tue, 27 Mar 2018 18:37:55 GMT
Re: gear mate works in sub-assembly but doesn't work in top level

I just found out that I can seperately attach parts and assemblies...

By: Ruinian Xu  Tue, 27 Mar 2018 18:43:06 GMT
Re: gear mate works in sub-assembly but doesn't work in top level

Hi Dan,

Did you find the reason why gear mate doesn't always work? I think the reason that gear mate doesn't work in ROS should be because of stl file since URDF just defines the transformation between links and joints, joint type and etc. There is no definition about gear mate. Hence, it should be the problem of stl and in other words, if I set gear mate correct, it should solve the problem.

 

Thank you for your help if you can reproduce the problem.

By: Ruinian Xu  Wed, 28 Mar 2018 15:18:42 GMT
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