Delta2_2dof
The "Delta2_2dof" axes group describes a two-dimensional parallel kinematics according to the following representation:
MCS position
- Origin is in the centre between A1 and A2.
- A1 and A2 are in the XY plane.
- Y axis is parallel to the rotary axes of the drives.
- X axis points towards A1.
- Z axis points "upwards" away from the end effector.
TCS position
- Origin is in the centre between the passive joints of the end effector.
- The passive joints are in the XY plane of the TCS.
- X TCS and X MCS are parallel.
- Z TCS is aligned opposite to Z MCS .
Zero position of the drives
- In the zero setting of the drives, the knee levers are horizontal, i.e. the passive and active joints of the knee levers are aligned.
- A positive angle means for A1 and A2 an "upwards" movement of the knee levers.
Parameter
A complete list of all kinematics-independent parameters can be found in the section
Short overview of all parameters
Arm length L1 (index offset 3, subindex 2)
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Length of the knee lever (L1)
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Setting range (min. value | unit | max. value) |
Lenze setting |
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0 |
mm |
2147483647 |
0 mm |
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FLOAT_64 |
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Arm length L2 (index offset 3, subindex 3)
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Length of the parallelogram (L2)
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Setting range (min. value | unit | max. value) |
Lenze setting |
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0 |
mm |
2147483647 |
0 mm |
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FLOAT_64 |
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Basic radius Rbase (index offset 3, subindex 4)
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Radius of the basic platform (R BASE )
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Setting range (min. value | unit | max. value) |
Lenze setting |
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0 |
mm |
2147483647 |
0 mm |
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FLOAT_64 |
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End effector radius Rtcp (index offset 3, subindex 5)
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Radius of end effector (R TCP )
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Setting range (min. value | unit | max. value) |
Lenze setting |
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0 |
mm |
2147483647 |
0 mm |
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FLOAT_64 |
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Degrees of freedom (dof)
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Degrees of freedom (dof) |
Translation |
Rotation |
|---|---|---|
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Drives |
- |
A1, A2 |
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Tool |
x, z |
- |