Mechanism locks up

[multin]

Hello everyone,


Maybe someone can help me with this problem I have.


I modeled a SCARA robot. The "end-effector" can be dragged to a position.


I also modelled a trajectory.


It all works as advertised, accept when all the axis are aligned. At that moment the model makes a random movement and locks up.


View attachment 3931





Locked-up mechanism:


View attachment 3932


I also attached my ProE model (WF2)


2007-07-23_094348_robot.zip


Any solutions?


Thanks,


Eelco



Edited by: multin

 

[multin]

Never mind, I found a solution. Iremoved the straight curveand added 2 gear pairsin order to keep the gripper pointed at the robot main-axis. Now it works great.