MIXED_LRR_M20

Included in the MOVIKIT^® Robotics add-on MediumModels license.

A MIXED kinematic model with 1 linear axis and 2 rotary axes that allows motion of the flange on the surface of a cylinder around the linear axis as well as rotation of the flange (around the axis parallel to Z). The X-axis runs horizontally along the circular arc of the cylinder around the linear axis:

• Joint axis 1: Z direction
• Joint axis 2: Rotates the arm around the shoulder axis (parallel to the Z-axis).
• Joint axis 3: Rotates the tool around the wrist axis (parallel to the Z-axis).

• Parameters
• Joints
• PTP parameters
• Physics