Siemens SIMOTION Function Manual page 57

● When x
● The end point of the transformation is defined with its coordinates x
Configuration data for Delta 3D picker kinematics
typeOfKinematics:
DELTA_3D_PICKER
basicOffset
basicOffset.x
basicOffset.y
basicOffset.z
length1
length2
distanceD1
distanceD2
offsetA1
offsetA2
offsetA3
angleArm1ToX
angleArm2ToArm1
angleArm3ToArm1
Possible link constellations
LinkConstellation
TO Path Interpolation
Function Manual, 11/2010
= y = z = 0, the zero position of the kinematics lies in the center between
ZP ZP ZP
drive axes A and A .
1 3
centrally between G to G
4
.
6
Delta 3D picker kinematics type
Offset of the kinematic zero point (ZP) relative to a
Cartesian zero point
Portion of offset in coordinate direction X
Portion of offset in coordinate direction Y
Portion of offset in coordinate direction Z
Length of the upper arm segment
Length of the lower arm segment
Distance of the A
zero point (ZP)
Distance of the G
(EP)
Offset of the drive axis A
Offset of the drive axis A
Offset of the drive axis A
Angle offset of arm A
rotation at the positive Z axis
Angle offset of arm A
rotation at the positive Z axis
Angle offset of arm A
rotation at the positive Z axis
Irrelevant (always 1)
Basics of Path Interpolation
2.13 Kinematic adaptation
, y
EP EP
to A drive axes from the kinematic
1 3
to G articulations from the end point
4 6
1
2
3
-G -G from the X axis during
1 1 4
-G -G from arm A
2 2 5
-G -G from arm A
3 3 6
and z
EP
-G -G during
1 1 4
-G -G during
1 1 4
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