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

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Lambda kinematics
Lambda kinematics

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.

Lambda kinematics, variant 1
Lambda kinematics, variant 1
Lambda kinematics, variant 2
Lambda kinematics, variant 2

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

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