DELTA_RRL_M50

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

DELTA with 2 rotary axes and 1 linear axis:

• Joint axes 1 and 2: Rotate one upper arm each in the ZX plane. The forearms use ball joint connections to move a lance, which is in turn pivoted in the origin of the base coordinate system.
• Joint axis 3: Linear extension of the lance for interpolation in the Cartesian space with positive Y coordinates.

INFORMATION: The flange orientation is constantly maintained by means of a parallelogram or a belt, or the tool only comprises a pen, for example; its orientation is not significant.

• Parameters
• Joints
• PTP parameters
• Physics