Creating a Grab Activity  

This procedure describes how to create a grab activity to simulate the robot grabbing a device or part, or a part grabbing another part. You can grab more than one part or device.

This procedure contains two sections:

This procedure assumes that your PPR tree contains the necessary parts and resources to perform the grab activity.

Create a Grab Activity

 
  1. Click Grab from the Simulation Activity Creation toolbar.

    If Grab is not visible on the Simulation Activity Creation toolbar, click on the black arrow on Release  . The Grab/Release sub-toolbar appears; access Grab from the sub-toolbar.
     
    The Activity Creation Options dialog box appears asking where to place the activity.
  2. Select the location for the activity and click OK.

     The Grab Activity dialog box below appears.
  3. Select the device or part to do the grabbing.

  4. Select the part(s) or device(s) to grab.

    The grabbing part and the grabbed part(s) are assigned as Items/Resources based on their original product/resource position on the PPR tree.
    If you inadvertently select the wrong part, you can deselect the part or parts while the window is open by clicking on the part a second time; you can also use the Reassign button to cancel the selection.

Edit a Grab Activity

 
  1. Double-click on the grab activity in the PPR tree.

     The Grab Activity dialog box appears.
  2. Click the Reassign button.

    The fields in the dialog box become blank. 
  3. On the PPR tree, select the part used to perform the grab activity and then the part to grab.

     As you select each part, it appears in the correct box.
  4. Select the Accept button.

    If you make a mistake when selecting the parts, you can select either the Cancel button (which leaved the activity as it was, prior to your attempt to edit it) or the Reassign button, which clears the dialog box again. 
      You can also select the desired field (grabbing or grabbed), then deselect the desired part by clicking on it.
      Whenever you select either the Part used to perform grab or Part(s) to grab fields, the objects already included in the corresponding lists are highlighted.
Depending on how your products and resources are set up, it may be possible for you to grab a part (e.g., a screwdriver) with a parent or child part.  For instance, a toolbox (child) that is part of a tool cart (a parent) can be selected to grab the part or the cart can be selected as the grabber.  Be sure that you select the level you used for grabbing if you want subsequently to move the grabbed part with the part that did the grabbing.  For instance, if you use the toolbox to grab the screw driver, you need to move the toolbox, not the tool cart.

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