Nomenclature
The table below provides an overview of the terms introduced for coupling kinematics.
Term | Description |
Partial kinematic | Kinematic taken from the kinematic library and which is part of a coupling kinematic. |
Group | Unit consisting of one or several partial kinematics concatenated in series. |
Workpiece CS | Group which holds a workpiece and whose movements are followed by other groups. |
TCP | Tool Centre Point; tool tip and end of a kinematic chain. The movement of the TCP results from the superimposed movement of the partial kinematics of a particular group. |