Polygonal tube, profiled tube (5/6-axis) (kinematic ID 93)

Configuration

Kinematic 93 is configured in analogy to kinematic 90 in section "Round tube, lateral surface (5/6-axis)". In addition the user can specify kinematic parameters as of index 23. The parameters correspond to kinematic 79 described in section "Polygonal tube, profiled tube” (i.e. Index 23 in kinematic 93 corresponds to Index 3 in kinematic 79 etc.).

As an example the configuration her is shown of an AB orientation head. Parameterisation is analogous for all other orientation heads.

Note: All offsets starting from Index 20 act as static offsets, i.e. they are not influenced by rotations within the head.