KIN_TYP_21 – Lambda kinematics
Kinematic structure
The kinematic structure consists of 3 translatory NC axes and 1 rotary NC axis in the tool.
Axis configuration in the NC channel | ||
Axis identifier | X, Y, Z, C (X1, X2, Z, C) | |
Axis index | 0, 1, 2, 3 | |
Kinematic structure | ||
| Tool axes | Workpiece axes |
NC axes | X,Y, Z, C | - |
The XY plane kinematics are known as a variant of shear kinematics. The struts (lengths l2, l1) that are connected to each other at point D and are also rotatable are located on 2 linear slides XM1 and XM2 at rotary joints C and B.
Strut CA (length I3) is attached to strut CD via the fixed angle ß. The C axis is located at the top of this strut. The actual tool holding strut (length l4) starts at the rotation point of the C axis and ends in the TCP.
Related to the Cartesian axes the C axis is not mechanically guided, i.e. it must be compensated depending on the joint position.
Offset data of kinematics
HD offset | param[i] | Description | Unit |
HD1 | 0 | Z offset to tool holding point | 1.0 E-4 mm |
HD2 | 1 | l1: Strut length 1 | 1.0 E-4 mm |
HD3 | 2 | l2: Strut length 2 | 1.0 E-4 mm |
HD4 | 3 | l3: Strut length 3 | 1.0 E-4 mm |
HD5 | 4 | g_s : Offset joint points C to B | 1.0 E-4 mm |
HD6 | 5 | ß= fixed angle between strut CD and strut CA | 1.0 E-4° |
HD7 | 6 | m1_off: Y position of drive 1 referred to Y origin WCS | 1.0 E-4 mm |
HD8 | 7 | phi_min: Minimum value for angle j (0°) | 1.0 E-4° |
HD9 | 8 | phi_max: Maximum value for angle j (90°) | 1.0 E-4° |
HD10 | 9 | X-Offset | 1.0 E-4 mm |
HD11 | 10 | L4= gripper offset | 1.0 E-4 mm |
HD12 | 11 | Kinematic variant | [ - ] |