Portal_2dof

The "Portal_2dof" axes group describes a planar portal robot with two Cartesian degrees of freedom (X, Z).

Portal_3dof axes group: Overview / Connected drives

Axis legend: x - red y - green z - blue

Degrees of freedom (dof)

Degrees of freedom (dof)	Translation	Rotation
Drives	A1, A2	-
Tool	x, z	-

MCS position

The x axis is congruent with the A1 axis

The z axis is congruent with the A2 axis.

TCS position

xTCS and xMCS are parallel.

yTCS is aligned opposite to yMCS.

zTCS is aligned opposite to zMCS.

In zero position, the coordinate origins MCS and TCS are congruent.

Zero position of the drives

The zero setting of the drives defines the origin of the MCS.

Singularities

The Portal_2dof axes group has no singularity.

A complete list of all kinematics-independent parameters can be found in the section