3D-Delta Type 1 (P_3C)

The 3D-Delta Kinematics Type 1 (P_3C) is configured as shown in the diagram above. The Kinematic Transformation expects ball joints (or elements with the same behavior) in the link between the arms and the lower plate.

Parameterization of the center stick for aligning the gripper is optional.

All motor axes are scaled in degrees; 0° is defined as shown in the diagram. The arrow indicates the positive direction. This applies for all three motors.

Parameters for the Kinematics

Parameter	Description	Type	Unit
Inner arm length	Length between the pivot points of the inner arm; this is the arm that is directly linked with the motor.	`LREAL`	mm
Outer arm length	Length between pivots of the outer arm	`LREAL`	mm
Displacement	Length between the center of the base plate and the virtual rotation axes of the inner arm	`LREAL`	mm
TCP displacement	Length between the center of the gripper plate and the virtual rotation axes of the outer arm	`LREAL`	mm

Parameters for the Dynamic Model

Parameter	Description	Type	Unit
Inner arm mass	Total mass of the inner arm	`LREAL`	kg
Inner arm moment of inertia	Moment of inertia of the inner arm in relation to pivot point P1, which is linked with the motor	`LREAL`	kg mm^2
Outer arm mass	Mass of the outer arm. If two bars are used, the total mass is required. The mass of the joint can optionally be described as a separate parameter.	`LREAL`	kg
Link mass	Mass of the joint linking the inner and outer arm. Can be used if the mass of the joint is not already included in the outer and inner arms. The mass of the joint linking the gripper plate with the outer arm is not specified here. It can be added to TcpMass.	`LREAL`	kg
TCP mass	Mass of the TCP, including gripper plate and gripper. The payload is usually described with a separate parameter.	`LREAL`	kg
Center stick mass	Total mass of the center stick	`LREAL`	kg
Center stick: moment of inertia	Moment of inertia of the center stick in relation to the center of gravity (P2)	`LREAL`	kg mm^2
Center stick: center of mass displacement	Length between the gripper plate and the center of gravity of the bar	`LREAL`	mm
First drive torque OID	Object ID of the first drive torque (see here) If the motors and gear units of all motors behave in a similar way, all drive torques can be represented via an OID. All three parameters refer to the same object ID.	`OTCID`
Second drive torque OID	Object ID of the second drive torque	`OTCID`
Third drive torqueOID	Object ID of the third drive torque	`OTCID`

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:

Tool Offset OID.

Requirements

Development Environment Installation Package	Target System	TwinCAT Function
TwinCAT V3.1.4018.26 TF5400 TwinCAT 3 Advanced Motion Pack V3.1.6.14	PC or CX (x86 or x64)	TF5112 TwinCAT 3 Kinematic Transformation (Level 3)