Kinematic structure

Tripod kinematics

Machine type: 3-axis machine (3 axes + spindle)

Axis identifiers as per the machine labelling

Axes in the tool: Z1, Z2, Z3,(Spindle B)

Axes in the workpiece -

Axis configuration in the sda_mds.lis: X, Y, Z

Offset dimensions of strut kinematics

Kinematic ID	Axis sequence
12	X, Y, Z (Z1, Z2, Z3)
Parameter
Offset	List	Meaning
HD1	kinematik[12].param[0]	Tool offset Z
HD2	kinematik[12].param[1]	Tool offset X
HD3	kinematik[12].param[2]	Tool offset Y
HD4	kinematik[12].param[3]	Z offset machine axis zero origin.
HD5	kinematik[12].param[4]	Radius to connecting line of the joint centre points on the drive columns (large circle)
HD6	kinematik[12].param[5]	Radius to connecting line of the joint centre points on the holder platform (small circle)
HD7	kinematik[12].param[6]	Strut length to each joint centre point
HD8	kinematik[12].param[7]	Switch for switching to non-ideal tripod (enable HD9 / HD 10)
HD9	kinematik[12].param[8]	Angle column / joint 3 to column / joint 1
HD10	kinematik[12].param[9]	Angle column / joint 3 to column / joint 2

Axis configuration and kinematic offsets

Excerpt from the channel parameter list:

# Define axis configuration

# =================================

gruppe[0].achse[0].log_achs_nr 1

gruppe[0].achse[0].bezeichnung X

#

gruppe[0].achse[1].log_achs_nr 2

gruppe[0].achse[1].bezeichnung Y

#

gruppe[0].achse[2].log_achs_nr 3

gruppe[0].achse[2].bezeichnung Z

#

# Define kinematic parameters

# =================================

kinematik_id 12 Tripod

#

# Offsets in 0.1 æm

# Tripod

kinematik[12].param[0] 500000

kinematik[12].param[1] 0

kinematik[12].param[2] 0

kinematik[12].param[3] 9100000

kinematik[12].param[4] 4585000

kinematik[12].param[5] 725900

kinematik[12].param[6] 7020000