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Kinematics

Guidance Controllers support a variety of optional Kinematic Modules for converting Cartesian (XYZ) positions and orientations to axis coordinates and vise versa. This kinematic library allows the programmer to control complex machines (including articulated, parallel and redundant axis robots) with simple Cartesian commands (e.g. move 20 mm in the X direction). The following table lists some of the available configurations contained in the Guidance Controllers’ kinematic library. Custom kinematic modules are available for a NRE charge.

XYZTheta Robot Kinematics

Consists of orthogonal X, Y, Z linear axes followed by a Theta.  Any axis can be optionally excluded so this module can be used for any subset of axes as well, e.g. X only, X & Y, Y & theta, etc.

XYZTheta

4-Axis Delta Robot Kinematics

Four degree-of-freedom "Delta" parallel link mechanism that translates its tool platform in a fixed orientation with respect to the World X and Y axes. This geometry is very popular in the high-speed packaging industry for light payload applications.

Delta

5/6-Axis Articulated Robot

5-Axis or 6-Axis robot that consists of all rotary actuators.  This configuration is commonly referred to as an "Articulated" robot.  The first axis rotates the robot about the World Z-axis.  The next two axes rotate the inner and outer links about horizontal axes.  The combination of the first three axes positions the wrist at a desired X, Y, Z location.  The final three rotary wrist axes control the orientation of the tool flange relative to the orientation defined by the first three axes.

Articulated

SCARA Robot Kinematics

Four axis SCARA robot that consists of an inner link that rotates about the World Z-axis, connected to an outer link that rotates about a Z elbow joint, which in turn is connected to a wrist axis that moves up and down and also rotates about Z.  An alternative configuration has the linear Z motion as the second axis. These are the most popular geometries for vertical assembly and small parts pick-and-place operations.

SCARA

Single or Dual Arm RPR Module Kinematics

Three-axis single arm or four-axis dual arm robot that consists of a center column that rotates about and moves up and down in Z.  The column supports one or two arms that move in a linear radial direction while maintaining a fixed radial gripper orientation.  Can also have an independent axis such as a linear traverse.  This configuration is very popular in the semi-conductor market.

RPR

Enhanced XYZ Theta Robot Kinematics

Provides the capability of the standard XYZTheta robot and adds support for split X-axis control, motor coupling and motor linearity compensation.

EXYT

XYZ Robot Plus Extra Axis Kinematics

Consists of orthogonal X, Y, Z linear axes followed by an extra servoed axis.  This module was originally developed for the Analytical Chemistry market to control a Cartesian robot with a syringe plunger operator.  Any axis can be optionally excluded in this module.

XYZA

4/5/6-Axis Single or Dual Yaw (RPRR) Robot Kinematics

Four, five or six-axis robot that consists of a inner link that rotates about and moves up and down in Z, connected to an outer link that rotates about Z, which in turn is connected to one or two wrist joints that also rotate about Z.  The rotary axes position and orient the robot's end-effector(s) in the X-Y plane.  Can also have an independent axis such as a linear traverse.  This configuration is very popular in both the semi-conductor and life sciences markets.

RPRR

4/5/6-Axis Single or Dual Yaw (PRRR) Robot Kinematics

Four, five or six-axis single or dual Yaw (PRRR) mechanism that is very similar to the RPRR robot except that the ordering of the first two axes is reversed. In addition, other features, such as motor coupling compensation, are included.

PRRR

Tip Tilt Table Kinematics

Controls an X/Y/Z table on which is mounted two rotary axes that tip and tilt the robot's end-effector. Any axis can be optionally excluded.

TT

5 Axis Take-Out Robot Kinematics

Five axis robot that consists of an over-head linear axis that positions 4 articulated, rotary axes.  The first three rotary axes move the tool tip in the world X-Z plane with a specified orientation.  The 5th axis rotates the tool about its Z-axis.  This configuration is useful for picking up parts from a conveyor belt and loading them into a processing machine.

5 Axis Take Out

6 Axis Take-Out Robot Kinematics

6-Axis robot that consists of an over-head linear axis that positions 5 articulated, rotary axes.  The first two rotary axes position the wrist in a world X-Z plane.  The final three rotary wrist axes control the orientation of the tool flange relative to the orientation defined by the first two rotary axes.  This configuration is very useful for picking up parts from a pallet or conveyor belt and loading them into a processing machine when a full 6 degrees-of-freedom of motion is required.

6 Axis Take Out

Joint Only Kinematics

Convenience module that allows from 1 to 12 axes to be moved in a joint coordinated fashion without a kinematic model.

 

Encoder Only Kinematics

Convenience module that allows the position of from 1 to 12 encoders, which are not attached to motors, to be read. This module is often used for reading the position of a conveyor belt (in connection with the conveyor tracking software option) or the position of other mechanical axes that are independently controlled.

 

 

 
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