Siemens SIMOTION Function Manual page 56

Basics of Path Interpolation
2.13 Kinematic adaptation
Figure 2-42
Figure 2-43
Definitions
● A
● G
● It is assumed that the connection of the links at the end point (EP) has a horizontal
56
G3
G6
G5
G2
y+
Kinematics of Delta 3D picker (bottom view)
Kinematics of the Delta 3D picker (single arm on the example, axis A1)
, A , and A designate the three active drive axes of the kinematic structure. They lie in
1 2 3
the X-Y plane with z = 0, and each has distance d
Their zero position within the kinematic structure corresponds to the direct orientation of
the upper arm segments (length1) in the direction of the negative Z axis. Positive
displacements occur counterclockwise, as shown in the previous figure.
to G identify freely movable links.
1 6
orientation based on the parallel struts. This yields y
horizontal separation distanceD2 from the end point (EP).
G4
G1
z+
G4
x+
x
G1
from the kinematic zero point (ZP).
1
= y = y . G
G4 G5 G6 4
Function Manual, 11/2010
to G each have the
6
TO Path Interpolation