Transformation type

Transformation ID

Type

Number of axes

Number of workpiece axes

Peculiarities

1

RTCP

5

 

 

2

RTCP

5

 

 

3

RTCP

4

 

 

4

RTCP

4

 

 

5

RTCP

4

 

 

6

RTCP

4

 

 

7

RTCP

5

 

 

8

RTCP

5

 

 

9

RTCP

5

 

 

10

RTCP

5

 

 

11

RTCP

5

 

 

12

Complete

3

 

3-axis parallel kinematics with constant orientation

16

RTCP

5

 

 

17

RTCP

5

 

3 machine axes, 2 auxiliary axes

18

RTCP

5

 

3 machine axes, 2 auxiliary axes

19

Complete

5

 

3-column parallel kinematics, 5 machine axes

21

Complete

4

 

LAMBDA shear kinematics with compensation of rot. C axis, constant orientation, 4 machine axes

22

RTCP

5

2

2 axes in workpiece, 3 machine axes

23

RTCP

5

 

 

25

RTCP

5

 

 

28

RTCP

5

 

 

30

RTCP

4

 

 

33

RTCP

5

 

 

34

RTCP

4

 

 

36

RTCP

4

 

SCARA

Transformation ID

Type

Number of axes

Number of workpiece axes

Peculiarities

37

Complete

3

 

Delta robot

45

Complete

6

 

6-axis articulated robot

52

RTCP

5

 

 

57

RTCP

5

 

Rotary/swivel table

58

RTCP

5

 

Rotary/swivel table

59

RTCP

5

 

Cardanic head

60

RTCP

5

 

Cardanic head

61

RTCP

5

 

 

63

RTCP

5

 

 

64

RTCP

6

 

 

70

RTCP

5

 

 

76

Complete

5

 

Mechanical TCP

80

RTCP

5

 

 

81

RTCP

5

 

 

82

RTCP

6

 

 

85

RTCP

2

 

 

96

Complete

4

 

4-axis palletising robot

206

Complete

5

 

5-axis robot on linear unit

207

RTCP

5

 

 

208

Complete

4

 

4-axis robot on linear unit

209

RTCP

5

 

Tripod with rotary/swivel table