KIN_TYP_12

The kinematic strut structure (referred to as „tripod“) consists of three translatory axes in a non-cartesian arrangement. Strut pairs that are parallel to each other carry the tool holder platform. The tool orientation is constant.

Axis configuration in NC channel

Axis designation

X, Y, Z (Z1, Z2, Z3)

Axis index

0, 1, 2

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y, Z

-

KIN_TYP_12 1:
Figure 2-15: Kinematic tripod structure
KIN_TYP_12 2:
Figure 2-16: Vector representation of the kinematic strut structure
KIN_TYP_12 3:
Figure 2-17: Offset dimensions of the kinematic strut structure

With the Parameter HD8 can be toggled between an ideal (1) and non-ideal (0) Tripod. An ideal Tripod has an angle of 120 ° between each strut. The non-ideal Tripod angles between the struts can be defined with the parameters HD9 and HD10. In this case the third angle is calculated:

KIN_TYP_12 4:

Offset data of the kinematic structure:

HD offset

param[i]

Description

HD1

0

Tool offset Z

HD2

1

Tool offset Y

HD3

2

Tool offset X

HD4

3

Z offset of machine reference point

HD5

4

Radius to the center point of the drives joint on each strut (big circle)

HD6

5

Radius to the center point of Steward platforms joints (small circle)

HD7

6

strut length to the joint center point

HD8

7

Switch between ideal or not ideal tripod transformation (makes HD9 / HD 10 available)

HD9

8

Angle between joint / strut 3 to joint / strut 1

HD10

9

Angle between joint / strut 3 to joint / strut 2