FUNCTION_BLOCK Kin_Tripod_Rotary IMPLEMENTS ISMPositionKinematics_Offset,
ISMPositionKinematicsInternal, ISMKinematicWithInfo2, ISMKinematicAxisSettings
Transformation FB for Tripod kinematics with rotary axes
In the kinematic design for a tripod with rotary drives, three rotary drives are connected to the tool plate by arms and connecting rods.
The origin of the coordinate system is the midpoint of the tool plate when all three arms are in a horizontal position.
Mechanical requirements:
The lengths of all three arms must be equal.
The lengths of all connecting rods must be equal.
The distance between the two connecting rods in each pair must be equal.
The orientation of the tool coordinate system equals the one of the machine coordinate system.
The single axes values have the following interpretation:
|
a0 |
position of the 1st axis of the machine (A1) |
|
a1 |
position of the 2nd axis of the machine (A2) |
|
a2 |
position of the 3rd axis of the machine (A3) |
Attributes:
sm_kin_libdoc
InOut:
|
Scope |
Name |
Type |
Initial |
Comment |
|
Input |
dArmLength1 |
LREAL |
Length of Arm1 connected to the motor. 
|
|
|
dArmLength2 |
LREAL |
Length of Arm2 [from arm1 to the stewart platform]. |
||
|
dArm1Radius |
LREAL |
The radius of the circle that is established by the three points P of the drives. 
|
||
|
dStewartRadius |
LREAL |
0 |
The radius of the circle that is established by the six points where the connecting rods connect to the tool plate. 
|
|
|
dDistance |
LREAL |
Distance between the two connecting rods in one pair. |
||
|
dMaxAngleBallJoint |
LREAL |
45 |
Maximum angle in +/- for the ball joints. |
