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Basics of Path Interpolation

2.13 Kinematic adaptation

TO Path Interpolation

Function Manual, 11/2010

Configuration data for Delta 2D picker kinematics

typeOfKinematics:

DELTA_2D_PICKER

Delta 2D picker kinematics type

basicOffset Offset of the kinematic zero point (ZP) relative to a

Cartesian zero point

basicOffset.x Portion of offset in coordinate direction X

basicOffset.y Portion of offset in coordinate direction Y

Axis 3 is not available for the Delta-2D picker.

config2D Main plane of the path axes

length1 Length of the upper arm segment

length2 Length of the lower arm segment

distanceD1 Distance of the A

and A

drive axes from the kinematic

zero point (ZP)

distanceD2 Distance of the G

and G

articulations from the end

point (EP)

offsetA1 Offset of the A1 drive axis

offsetA2 Offset of the A2 drive axis

Possible link constellations

LinkConstellation Irrelevant (always 1)

2.13.3.6 Delta 3D picker

length1

distanceD1

DQJOH$UP7R$UP

DQJOH$UP7R$UP

DQJOH$UP7R;

$D[LV

$D[LV

$D[LV

.LQHPDWLF]HUR

SRLQW=3

Figure 2-41 Kinematics of Delta 3D picker (top view)

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