Delta 2D Picker - Siemens SIMOTION Function Manual

Basics of Path Interpolation
2.13 Kinematic adaptation
Specification of the radius of the disks on the motors in:
radius1
radius2
Possible link constellations
LinkConstellation
2.13.3.5

Delta 2D picker

G1
Figure 2-40
Definitions
● The complete structure is contained in one of the two-dimensional main planes. The X-Y
● A
● It is assumed that always a horizontal orientation of the lower connection plate between
● When x
● The end point of the direct transformation is defined with its coordinates x
54
G3
Kinematics of Delta 2D picker (X-Y plane example)
plane is used as an example in the following description.
and A designate the two active drive axes of the kinematic structure. They lie on the
1 2
straight line y = 0 and are separated from each other by the distance 2x distanceD1.
Their zero position within the kinematic structure corresponds to the orientation of the
upper arm segments (length1) in the direction of the negative Y axis. Positive
displacements occur as shown in the figure.
G and G occurs.
3 4
This produces y = y
G3 G4
= y = 0, the zero position of the kinematics lies in the center between drive
ZP ZP
axes A and A .
1 2
center between G and G
3
as G = (x +distanceD2; y
4 EP
Disk radius for path axis 1
Disk radius for path axis 2
Irrelevant (always 1)
G2
G4
and a horizontal separation of 2x distanceD2.
. This yields the position for G
4
).
EP
y+
x+
= (x -distanceD2; y
3 EP
Function Manual, 11/2010
and y in the
EP EP
) as well
EP
TO Path Interpolation