Parameters
|
Parameter name | Additional information | |
|---|---|---|
Arm 1 | ||
(A) | Offset base to joint 1 (Z) |
|
(B) | Offset base to joint 1 (X) |
|
(C) | Length of upper arm 1 | Value > 0 |
(D) | Half width of parallelogram 1 | Value ≥ 0 |
(E) | Length of forearm 1 | Value > 0 |
(F) | Offset arm 1 to flange (X) |
|
(G) | Offset arm 1 to flange (Y) |
|
Arm 2 | ||
(H) | Offset base to joint 2 (Z) |
|
(I) | Offset base to joint 2 (X) |
|
(J) | Offset base to joint 2 (Y) |
|
(K) | Length of upper arm 2 | Value > 0 |
(L) | Half width of parallelogram 2 | Value ≥ 0 |
(M) | Length of forearm 2 | Value > 0 |
(N) | Offset arm 2 to flange (X) |
|
(O) | Offset arm 2 to flange (Y) |
|
Arm 3 | ||
(P) | Offset base to joint 3 (Z) |
|
(Q) | Offset base to joint 3 (Y) |
|
(R) | Length of upper arm 3 | Value > 0 |
(S) | Half width of parallelogram 3 | Value ≥ 0 |
(T) | Length of forearm 3 | Value > 0 |
(U) | Offset arm 3 to flange (X) |
|
(V) | Offset arm 3 to flange (Y) |
|
Flange | ||
(W) | Flange offset (Z) |
|
