Classification of transformations
Depending on their characteristics the transformations in cap. 2,3 can be classified in the following way:
Transformation ID | Type of transformation | Characteristics |
1 | RTCP | 5 machine axes |
2 | RTCP | 5 machine axes |
3 | RTCP | 4 machine axes |
4 | RTCP | 4 machine axes |
5 | RTCP | 4 machine axes |
6 | RTCP | 4 machine axes |
7 | RTCP | 4 machine axes |
8 | RTCP | 4 machine axes |
9 | RTCP | 5 machine axes |
10 | RTCP | 5 machine axes |
11 | RTCP | 5 machine axes |
12 | complete | parallel kinematic structure with 3 machine axes, constant orientation. |
16 | RTCP | 5 machine axes. |
17 | RTCP | 3 machine axes, 2 manual axes |
18 | RTCP | 3 machine axes, 2 manual axes |
19 | complete | parallel kinematic structure with 3 axes, 5 machine axes. |
20 | complete | same as ID 18 + scissor transformation, automatic calculation of orientation for spherical surface. |
21 | complete | LAMBA kinematic with compensation of rotary C axis, constant orientation, 4 machine axes. |
23 | RTCP | 5 machine axes. |
24 | complete | parallel kinematic structure with 3 pillars and 6 axes, 6 machine axes |
30 | RTCP | 4 machine axes |
33 | RTCP | 5 machine axes |
34 | RTCP | 4 machine axes |
36 | RTCP | 4 machine axes, SCARA |
52 | RTCP | 5 machine axes |
57 | RTCP | Rotary/swivel table, 5 machine axes |
58 | RTCP | Rotary/swivel table, 5 machine axes |
59 | RTCP | Cardan kinematic, 5 machine axes |
60 | RTCP | Cardan kinematic, 5 machine axes |
61 | RTCP | 5 machine axes |
63 | RTCP | 5 machine axes |
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