MIXED_LRR_M30

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 the Cartesian X-axis of the base coordinate system).

• Joint axis 1: Z direction
• Joint axis 2: Rotates the arm around the shoulder axis (Z-axis)
• Joint axis 3: Rotates the tool around the wrist axis (parallel to the X-axis of the base coordinate system)

INFORMATION:

• The orientation of the arm section to which joint axis 3 is attached is kept constant by a parallelogram or belt.
• For the specification of the coordinates of the TCP, the X-axis runs in the horizontal plane on the circular arc of the cylinder around the linear axis, with the zero point on the Cartesian X-axis of the base coordinate system. The Y coordinate is always "0" for this kinematic model.
• The tool and workpiece transformations may only contain values unequal to "0" in the Z coordinate.

• Parameter
• Joints
• PTP parameters
• Physics