Siemens SIMOTION

Basics of Path Interpolation
2.13 Kinematic adaptation
TO Path Interpolation
56 Function Manual, 11/2010
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Figure 2-42 Kinematics of Delta 3D picker (bottom view)
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x
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Figure 2-43 Kinematics of the Delta 3D picker (single arm on the example, axis A1)
Definitions
● A
1
, A
2
, and A
3
designate the three active drive axes of the kinematic structure. They lie in
the X-Y plane with z = 0, and each has distance d
1
from the kinematic zero point (ZP).
Their zero position within the kinematic structure corresponds to the direct orientation of
the upper arm segments (length1) in the direction of the negative Z axis. Positive
displacements occur counterclockwise, as shown in the previous figure.
● G
1
to G
6
identify freely movable links.
● It is assumed that the connection of the links at the end point (EP) has a horizontal
orientation based on the parallel struts. This yields y
G4
= y
G5
= y
G6
. G
4
to G
6
each have the
horizontal separation distanceD2 from the end point (EP).