KIN_TYP_21

The kinematic structure of this machine consists of three translatory NC axes and one rotary NC axis in the tool.

Axis configuration in NC channel

Axis designation

X, Y, Z, C (X1, X2, Z, C)

Axis index

0, 1, 2, 3

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X,Y, Z, C

-

KIN_TYP_21 1:
Figure 2-26: Lambda kinematic

The plane XY kinematic is known as a variant of the shear kinematics. The struts (lengths l2, l1) are connected to the two linear sliders XM1 and XM2 via the rotary joints C and B. On point D these struts also are connected via a rotary joint. The strut CA (length l3) is attached to the strut CD with the fixed angleβ. The C axis is located on the top of this strut. The real tool holding strut (length l4) starts in the rotary point of the C axis and ends in the TCP. Related to the cartesian axes the C axis is not mechanically guided, this means it has to be compensated in dependency of the joint position.

KIN_TYP_21 2:
Figure 2-27: Lambda kinematic, variant 1
KIN_TYP_21 3:
Figure 2-28: Lambda kinematic, variant 2

Offset data of the kinematic:

Parameter

Description

HD offset

param[i]

-

Z offset to the fixing point WZ

HD1

0

l1

Strut length 1

HD2

1

l2

Strut length 2

HD3

2

l3

Strut length 3

HD4

3

g_s

Offset joint points C to B

HD5

4

β

Fix angle between strut CD and CA

HD6

5

m1_off

Y position of drive 1,

related to Y zero point WKS

HD7

6

phi_min

Minimum value for angleϕ(0°)

HD8

7

phi_max

Maximum value for angleϕ(90°)

HD9

8

-

X offset

HD10

9

L4

Gripper offset

HD11

10

-

Variant of kinematic

HD12

11