Grip

The Grip component is essential for linking Movable Units (MUs) to components being moved by a drive system. It offers flexibility in how MUs are attached, either as rigid bodies or as sub-components, ensuring seamless integration with the drive's movement.

Grip component

Fixing with Rigid-Body or as Sub-Component

• Sub-Components: Grip can attach MUs as sub-components, which is the recommended way

• Fixed Joints: Alternatively, MUs can be attached using Fixed Joints for a connection by physical joints.

Identifying the MU to grip

To grip a part, it must first be identified by assigning a Sensor to the "Part To Grip" parameter. Once Grip is activated, the MUs recognized by this sensor will be automatically attached.

Gripping MUs

Methods to Start Gripping MUs

1. Directly Grip: Initiates gripping when the sensor detects a part.

2. Pick Based on Another Sensor: Uses another sensor's trigger to start the grip action.

3. Pick Based on Cylinder: Useful for modeling grippers, this method starts the pick action based on the position of a selected cylinder, either fully retracted or extended.

4. Pick Based on Signals: Gripping actions can be controlled via PLC signals using boolean values:

   • Single Boolean: Toggle between picking (true) and placing (false) with one boolean.

   • Dual Boolean: Use separate booleans for picking and placing for clearer control.

   Use the OneBitControl property for single boolean control.

Placing MUs

MUs can be placed on other MUs in two ways.

To position Manufacturing Units (MUs) on other MUs or surfaces, you can employ physical behavior by simply releasing the picked MU. In this approach, ensure the Place Load On MU setting is false. However, be aware that MU attachment using this method may not be fully stable in the current release. As a more reliable alternative, we suggest setting Place Load On MU to true for placing MUs onto other MUs.

When Place Load On MU is set to true, it's necessary to specify an additional sensor, termed Place Load On MU Sensor, to identify the target MU for placement. This setup ensures that the placed MU becomes a sub-component of the identified MU, enhancing stability and precision. This relationship can be verified within the properties of the MU script.

Aligning MUs

For aligning Moveable Units (MUs) accurately, the features Pick Align With Object and Place Align With Object are utilized to ensure the picked and placed parts align with a specified position. By selecting any GameObject, the pivot point of the MU will match the pivot point of the chosen GameObject, including alignment of the center and all axes. This precise alignment occurs either before the object is attached or after it is placed, ensuring a seamless integration into the desired location.

Please check the Realvirtual.io Class Reference for more information about the properties and methods of this component.

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