Basic types

For kinematic models, a distinction is made between the basic types described below:

CARTESIAN GANTRY

CARTESIAN GANTRY is a kinematic model for a gantry robot in which 2 or 3 linear axes are arranged perpendicular to each other, thereby spanning a Cartesian work envelope.

ROLLER GANTRY

ROLLER GANTRY is a kinematic model for a roller gantry in which 2 degrees of translational freedom of 2 usually stationary drives are controlled by a circulating toothed belt. Additional degrees of freedom may be upstream and/or downstream of this assembly. Each ROLLER GANTRY can be configured as a cross-type as well as an H-type and each in the form top-fixed and bottom-fixed.

SCARA

SCARA is the abbreviation for "Selective Compliance Assembly Robot Arm". SCARA is a kinematic chain in which 2 rotary axes are positioned parallel to each other. These axes are called shoulder joint and elbow joint, analogous to the human arm.

DELTA

DELTA is a kinematic model where 2 kinematic partial chains are connected in parallel between kinematic base and tool flange in a triangular structure.

TRIPOD

TRIPOD is a kinematic model that can be characterized as a tripod. It consists of 3 kinematic subchains between the kinematic base and the tool flange, arranged in parallel to each other.

QUADROPOD

QUADROPOD is a kinematic model that consists of 4 kinematic subchains between the kinematic base and the tool flange, arranged in parallel to each other.

HEXAPOD

HEXAPOD is a kinematic model that consists of 6 kinematic subchains between the kinematic base and the tool flange, arranged in parallel to each other.

ARTICULATED

ARTICULATED is the kinematic model of an articulated arm robot. An articulated arm robot has 5 to 6 degrees of freedom and includes multiple rotary joints.

MIXED

MIXED describes kinematic models that do not clearly feature the characteristics of any other kinematic models. In particular, these kinematic models do not correspond to the kinematic models CARTESIAN GANTRY, ROLLER GANTRY, SCARA, DELTA, TRIPOD, QUADROPOD, HEXAPOD, and ARTICULATED.