Overview

Task

Coupling kinematics are a kinematic transformation which permits the design of a larger complex kinematic from several single kinematics. It describes the relationship between the single partial kinematics but does not provide any new machine kinematics.

Possible applications

Partial kinematics

• can be stacked as a kinematic chain;
• can be operated in parallel as a kinematic tree;
• or can be used as a mixture of the two variants.

For example, this can be used to form a kinematic chain from a robot standing on a linear axis to extend the workspace.

Operation in parallel allows a robot to work on a rotary/swivel table to and follow the movements of the table.

Release Note

This function is available as of CNC Build V3.1.3080 or V3.1.3108.

Notice

This function is an additional option requiring a license.

Parameterisation

The coupling kinematic has the kinematic type 210. The detailed parameter definition is dependent on the machine layout and is described in detail in the chapter Parameters.

Programming

Programming can be carried out as a mixed form of TCP programming and/or as the programming of the single kinematics.

The program variants are explained in the chapter Programming.