This 2-part application first picks and stacks two components and then screws them together in the next part.

Developer: rbtx

Video part 1: Stacking

Video part 2: Screw

Program files: Assemble_Stacking_Programs.zip

Setup

Robot Type: igus Gantry DLE-RG-0012

Part 1: Stacking

The gantry robot is equipped with a parallel gripper.

The positions of the components are fixed.

Part 2: Screw

The gantry robot is equipped with a screwdriver-bit that is magnitized by a fixed magnet. The endeffector is mounted on a Apiro rotary unit for turning the screw.

The positions of the components are fixed (result of "Step 1").