Quick Start

Make your first robot and move it. Before you start, complete the Installation.

1. Prepare a document

1. Start FreeCAD.
2. Make a new document (File → New).

You also need one .FCStd file that contains the robot parts. Use one body for each link. Keep the file closed. The wizard imports it.

2. Define the robot

1. Click Define Robot in the Robot Tools toolbar.
2. Step 1: Import components: select the .FCStd file that contains the parts. The wizard merges the parts into the document.
3. Step 2: Insert parts: double-click each part to insert it into the assembly. Right-click an inserted part to remove it.
4. Step 3: Define joints: ground the base link. Then connect the links in sequence, from the base to the tip. See Define Robot for each step with images.
5. Step 4: Review and finish: examine the joint table. Click OK to keep the robot. Cancel removes all changes.

The document now contains a Robot object that wraps the assembly.

3. Move it

1. Click Animate Robot.
2. Move the sliders. The robot follows in the 3D view.

Next steps

• Define Tool: attach a tool and set the TCP. Then pull the TCP sphere in the 3D view. Inverse kinematics moves the robot to the target.
• Trajectory: teach waypoints and play them.
• Scripting API: do the same operations from Python.