Portal_3dof
The "Portal_3dof" axes group describes a spatial portal robot with three Cartesian degrees of freedom (X, Y, Z).
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Portal_3dof axes group: Overview / Connected drives |
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Axis legend: x - red y - green z - blue |
Degrees of freedom (dof)
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Degrees of freedom (dof) |
Translation |
Rotation |
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Drives |
A1, A2, A3 |
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Tool |
x, y, z |
- |
MCS position
- The x axis is congruent with the A1 axis
- The y axis is congruent with the A2 axis.
- The z axis is congruent with the A3 axis.
TCS position
- xTCS and xMCS are parallel.
- yTCS is aligned opposite to yMCS.
- z TCS 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_3dof axes group has no singularity.
Parameter
A complete list of all kinematics-independent parameters can be found in the section
Short overview of all parameters
Related topics
Traversing ranges of connected axes
Considering differential drives