KIN_TYP_19

The kinematic strut structure (referred to as „tripod“) consists of three translatory axes in a non-cartesian arrangement and two cartesian axes. Three struts with ball joint carry the workpiece holder platform. The orientation and Z position of workpiece depends on position of the three non cartesian axes.

Axis configuration in NC channel

Axis designation

X, Y, Z, U, V, W (X,Y,Z1,Z2,Z3,W)

Axis index

0, 1, 2, 3, 4, 5

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y

Z1, Z2, Z3

KIN_TYP_19 1:
Figure 2-24: „Tripod“ Kinematic
KIN_TYP_19 2:

Figure 2-25: Offset dimensions of the kinematic strut structure

Offset data of the kinematic structure:

HD-offset

param[i]

Description

HD1

0

Tool offset Z

HD2

1

Strut length to the centerpoint of joints

HD3

2

Radius the centerpoint of Steward plattforms joints (small circle)

HD4

3

Radius to the centerpoint of the drives on strut joints (big circle)

HD5

4

Distance beetween Steward plattform joint and the workpiece platform