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Robert Gripper Model Simulation

Valued Contributor
Valued Contributor

How do i model a pick and place object with two grippers. The scenario of the pick and place object flow is as follows

Station Sequence:
1.Load station.
2. Station 2.
3. Station 3.
4. Station 4.
5.Unload station.
The pick and place object with two gripper named as RH and LH moves in the sequence from station to station as listed above from 1 through 5.
The flow  of the pick and place object Grippers(L/H and R/H) from station to station is listed in a sequence below from 1 through 6 and takes place as follows:
(Note: S/F stands for semi finished)
Gripper   Load Station          Station 2                                   Station 3                                   Station 4                                                                                                                  
LH         1. Pick(new part)  3.Drop(New part in STN-2)    4. Pick(S/F Part from STN-3)  6.Hold S/F part picked                  
RH                                         2.Pick(S/F Part from STN-2)   5. Drop(S/F part picked from STN-2)      
Then after station 4 the object goes to UNLOAD STATION  by holding the finished part from station 4 and release it.
Note: RH gripper will now be empty during its travel to STN4
Processing times of the stations and Pick and Place times of the object:
1. Station 2 Processing time= 5s
2. Station 3 Processing time=5.23 s
3. Station 4 Processing time=1.1 s
Load Station Pick time- 2.3s
Station 2: Drop=2.3s
                  Pick= 2.3s
Station 3: Drop=2.3s
                  Pick= 2.3s
Station 4: Drop=2.3s
Unload Station= Drop: 2.3s

Re: Robert Gripper Model Simulation

Gears Phenom Gears Phenom
Gears Phenom



Duplicte post?


I would suggest that each 'station' is a SingleProc, there you can enter in a processing time for the station and this must be carried out before the part wants to leave that object. Use the PickAndPlace object to model your robots, so have 2 of them and connect your SingleProcs in the correct order to the correct robot to model what you want. 


You then got 2 options to get the timming right on the robots, you can either set the angles and speed such that it is the correct time to deliver your parts (most visual way) or you can use a Wait command in a method instead to get the right time.


I am assuming that the 2.3s is the time for the gripper to grip the part, so this might be good to be included in both the 'Pull' and 'Exit' controls as a Wait command, so it will wait 2.3s before selecting the part and 2.3s before releasing the part. Building it into the time for the station (or the 'Exit' control for the station might be easier then as it keeps your SingleProc's processing time as the time for that station only) will be easier as the 'Pull' control might not be that easy to write.


Hope this has helped.



Re: Robert Gripper Model Simulation

Siemens Phenom Siemens Phenom
Siemens Phenom


it is possible to use two Pick&Place robots objects at the same position. You cannot expect that such a complex control is developed here. It will be hard to avoid collisions. There are such robots in reality?


Re: Robert Gripper Model Simulation

Gears Esteemed Contributor Gears Esteemed Contributor
Gears Esteemed Contributor

if you load the gripper in the first step on the pickAndPlace (then use the target control to move to the source), than you can program your cycle in the exit control of the pick and place (you can turn the p&p with setDestination, at the stopping points you can read the station with getDestination...)



Steffen Bangsow
freelance simulation specialist  

Re: Robot Gripper Model Simulation

Valued Contributor
Valued Contributor

Thank you very much Mr.Steffen. The solution proved to be very useful.


Kind Regards