2-D-Kinematics Type 1

InnerArmLength

Length from pivot point to pivot point of the inner arm.

mm

OuterArmLength

Length from pivot point to pivot point of the outer arm.

mm

Displacement

Length from center of the ground plate to the virtual rotary axes of the inner arm

mm

MCS2WCS OID

Object ID of a static transformation which defines the position of MCS in base coordinate system (normally WCS).

InnerArmMass

Total mass of the inner arm

kg

InnerArmMomentOfInertia

Moment of inertia of the inner arm related to the turning point P1 that is connected to the motor

kg mm^2

OuterArmMass

Mass of the outer arm. Optionally the link mass can described in an own parameter

kg

FirstLinkMass

Mass of the link that connects inner and outer arm. Can be used if the link mass is not yet included to outer and inner arms.
The link mass that connects the gripper plate and the outer arm is not specified here. That can be added to the TcpMass
First link mass is related to the inner arm that is linked to motor 1

kg

SecondLinkMass

cf. FirstLinkMass
Second link mass is related to the inner arm that is linked to motor 2

kg

TcpMass

Mass of the tool center point including gripper plate and gripper. The payload is usually written to a separate parameter.

kg

FirstDriveTorqueOID

Object ID of the first drive torque
If motors and gear boxes for all motors behaves similar, all drive torques can be represented by one OID. So both parameters refer to the same object ID.

SecondDriveTorqueOID

Object ID of the second drive torque

GravityOrientationOID

Object ID of a static transformation that describes the mounting orientation. This parameter is used if the gripper does not show to the ground. The static transformation’s Z-axis defines the gravity orientation. If the robot is mounted as shown in the picture this OID can be zero.