2-D-Kinematics Type 3

The 2-D-kinematics type 3 is built up as shown in the schema above.

All motor axes are scaled in degree and 0° is defined as shown in the schema with positive direction in direction of the arrow.

This kinematic type is implemented as left handed. The shaft of motor 1 & 2 are located in the origin of the coordinate system.

Parameter for kinematics

Parameter	Description	Unit
InnerArmLength	Length from motor shaft to pivot point of the outer arm.	mm
OuterArmLength	Length from pivot point to tool center point of the outer arm.	mm
MCS2WCS OID	Object ID of a static transformation which defines the position of MCS in base coordinate system (normally WCS).

Parameter	Description	Unit
InnerArmMass	Total mass of the inner arm	kg
OuterArmMass	Mass of the outer arm.	kg
ToolCenterpointMass	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.

Required Product Level:
Level 2