KIN_TYP_19 – Tripod kinematics

Kinematic structure

The strut kinematics consists of 3 translatory axes in a non-Cartesian arrangement and 2 Cartesian axes. 3 struts with ball joints support the workpiece platform. This may affect the Z height and orientation of the workpiece.

Axis configuration in the NC channel

Axis identifier

X, Y, Z, U, V, W ( X, Y, Z1, Z2, Z3, W)

Axis index

0, 1, 2, 3, 4, 5

Kinematic structure

 

Tool axes

Workpiece axes

NC axes

X, Y

Z1, Z2, Z3

Tripod kinematics
Tripod kinematics
Kinematic offsets
Kinematic offsets

Offset data of kinematics

HD offset

param[i]

Description

Unit

HD1

0

Tool offset in Z

1.0 E-4 mm

HD2

1

Strut length to joint centre point

1.0 E-4 mm

HD3

2

Radius to connecting line of joint centre points of holder platform (small circle)

1.0 E-4 mm

HD4

3

Radius to connecting line joint centre points of drive columns (large circle)

1.0 E-4 mm

HD5

4

Distance between workpiece holder platform and joint centre points on the holder platform

1.0 E-4 mm