Transformation between axes and joint axes

Each kinematic model offers the option of configuring a transformation between the individual axes (linear or rotary axes actuated by a drive) and the actuated joint axes of the kinematic model.

For example, mechanical additional transmission (converting linear motion into rotary motion or rotary motion of a winding axis into linear motion) and couplings between axes (redirecting a rotary motion by a parallelogram or a belt, or the couplings in an integrated lifting-rotation module or the hand axes of a typical articulated arm robot) can be mapped in this way.

For more information, refer to chapter Axis-joint transformation.