Support for delta robot kinematics using multiple coordinate systems

Used In:

  • Multi-axis applications requiring accuracy and speed in a small workspace

Delta robots are used in many areas of industry today. The common requirements of these applications include:

      • Accurate motion
      • High speed
      • High acceleration
      • Small workspace

Delta robot kinematics are simple. After defining the basic mechanical characteristics of the robot, it is possible to make use of many pre-defined motion sequences and interfaces. The same motion sequence can be run in different robots with different mechanical properties.

The delta robot definition process requires mechanical specification of:

      • Arm sizes
      • Radius sizes
      • Encoder resolution

During operation, a limit handling mechanism can be used to protect the system, including axis limits and machine limits.

The G-MAS also supports a special Cartesian transformation function from Machine Coordinate Systems (MCS) Product Coordinate Systems (PCS).

See G-MAS Coordinate Systems and Kinematics for more information on how G-MAS controls multi-axis kinematic systems.

Design Features

  • Supported motion types:
      • Linear
      • Circle
      • Polynomial
      • Table: Spline and PVT
  • Limit handling mechanism:
    • ACS – Axis limits
    • MCS – Machine limits
  • Cartesian transformation from MCS to PCS

Presentation: The Kinematic System in G-MAS

  • Basics
  • ACS vs. MCS
  • SetKinTransform
  • Usage examples

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