Kangaroo2 robot arm simulation - how to set an angle between two breps?

Grasshopper Kangaroo
,
1

Hello all,
I’m trying to model my robot arm in Kangaroo2 in order to simulate forces, provide models for linuxcnc’s vismach, possibly help in designing toolpaths etc. It’s my first time attempting a physical model in K2.
I would like to be able to set up a component so that I can input an angle of rotation for a joint and have the model move to that angle. I can only find the Angle component in K2 and that seems to want lines, but so far my attempts to add lines to the breps in the model and reference those, doesn’t seem to work.
So: how to set an angle between two breps?
FANUC S420F GH Linkage model 02.gh (23.3 KB)
FANUC S420F for Kangaroo 01.3dm (601.1 KB)

thank you,

Andy

2

In Kangaroo you don’t necessarily set the angle between two breps. You set the angle between lines and then later you orient the breps on the lines that the solver has optimized.

Have you looked at any examples yet?

3

I need the angle setting to be dynamic, and the breps to move to the angles I set i.e. the model needs to be poseable. You seem to be describing something static, or have I misunderstood?
I’ve googled for tutorials and and looked at one or two; I haven’t found anything about this specific question as yet. Can you recommend anything?
Thanks for your reply!

4

Here are a few:

rigid_body_linkage.gh (92.7 KB)
cable_carrier.gh (40.5 KB)
linkage_set_length.gh (407.4 KB)
linkage_example_rectangle.gh (7.3 KB)

5

This might be useful?

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6

Thanks for your replies, lots to look through here. @Joseph_Oster I learned some good stuff from that, though can’t see how to make it apply within Kangaroo2.
@martinsiegrist Haven’t played around with these so much yet but that sequence Vector → Rotate → Construct Plane → Orient (where it combines plane and brep) looks promising.
thanks again!

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