Supported kinematics
Kinematics is used to describe the mechanical structure of a robot.
- The following criteria are important:
- Motion profile of the axes
- Number and arrangement of the axes
- Moreover, a distinction is made between open and closed kinematics:
- Open kinematics (serial kinematics) is characterised by all axes of the kinematic chain being arranged in series like in a human arm. The first and last element of the chain are only connected to one other chain (e.g. SCARA, portal robot).
- Closed kinematics (parallel kinematics) is characterised by each chain being connected with at least two other chains (e.g. Delta2_2dof, Delta3_3dof, Delta3_4dof).
The following kinematics are supported:
|
axes group |
Kinematics |
Points for use (Application Credit) |
c520 | c550 | Dual use required |
|---|---|---|---|---|---|
|
Horizontal articulated robot with three Cartesian degrees of freedom (X, Y, Z) |
100 |
x | x | - | |
|
Horizontal articulated robot with four Cartesian degrees of freedom (X, Y, Z,C) |
100 |
x | x | - | |
|
Spatial articulated robot with forcibly guided horizontal end effector orientation |
100 |
x | x | - | |
|
Spatial articulated robot with forcibly guided horizontal end effector orientation and linear axis A1 |
100 |
x | x | - | |
|
Planar portal robot with two degrees of freedom (X, Z) |
0 |
x | x | - | |
|
Spatial portal robot with three Cartesian degrees of freedom (X, Y, Z) |
0 |
x | x | - | |
|
Spatial portal robot with four Cartesian degrees of freedom (X, Y, Z, C) |
0 |
x | x | - | |
|
Two-dimensional parallel kinematics |
100 |
x | x | - | |
|
Three-dimensional parallel kinematics |
100 |
x | x | - | |
|
Three-dimensional parallel kinematics with rotary axis C |
100 |
x | x | - | |
|
Three-dimensional parallel kinematics with rotary axes C and B |
100 |
x | x | x | |
|
Three-dimensional parallel kinematics |
100 |
x | x | - | |
|
Three-dimensional parallel kinematics with rotary axis C |
100 |
x | x | - | |
|
Two-dimensional belt kinematics |
0 |
x | x | - |
The following subchapters provide detailed information on the kinematics.
|
Note!
For this, please observe the information and notes in the section
|
Coordinate systems and transformations