KIN_TYP_2 – 5-axis kinematics with rotary/swivel head

Kinematic structure

The kinematic structure of this machine consists of 3 translatory axes and 2 rotary axes in the tool (rotary/swivel head).

Axis configuration in the NC channel

Axis identifier

X, Y, Z, A, B

Axis index

0, 1, 2, 3, 4

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y, Z, A, B

-

Kinematics of the 5-axis milling machine with rotary/swivel head
Kinematics of the 5-axis milling machine with rotary/swivel head

The geometry constants HD1, HD2 and HD3 are required to describe the rotary/swivel head of the machine in the figure above. The figure below shows their application. The rotary/swivel head is shown in top view.

Sizes L, TX, HD1, HD2 and HD3 of the rotary/swivel head
Sizes L, TX, HD1, HD2 and HD3 of the rotary/swivel head
Front view
Front view

Offset data of kinematics

HD offset

param[i]

Description

Unit

HD1

0

Offset tool holding device to rotation point B axis

10 E-4 mm

HD2

1

Y offset from B axis to A axis

10 E-4 mm

HD3

2

X offset from B axis to A axis

10 E-4 mm