2D-Kinematics Type 3 (S_CC)
2D-Kinematics Type 3 (S_CC) is configured as shown in the diagram above.
All motor axes are scaled in degrees; 0° is defined as shown in the diagram. The arrow indicates the positive direction.
This kinematics type is implemented as a left-handed system. The shafts of motor M1 and M2 are located at the origin of the coordinate system.
Parameters for the Kinematics
Parameter | Description | Type | Unit |
|---|---|---|---|
Inner arm length | Length between the motor shaft and the pivot point of the external arm |
| mm |
Outer arm length | Length between the pivot point and the tool center point of the outer arm |
| mm |
General Parameters for the Kinematics
General parameters that apply to any kinematics are described in the following sections:
For all kinematics with tool also applies:
Requirements
Development Environment | Target System | TwinCAT Function |
|---|---|---|
TwinCAT V3.1.4018.26 | PC or CX (x86 or x64) | TF5111 TwinCAT 3 Kinematic Transformation (Level 2) |