TARM robot

TARM (Traverse Arm) robot

General setup

• J1 is the linear traverse axis
• J2 is angular axis of the Z-Roll couple.
• J3 linear (Z) axis of the Z-Roll couple.
• J4 additional rotational axis of the end-effector.

Kinematics

Main Kinematics Equations

Inverse Kinematics:

	NOTE
	Singularity J2 at 90 degrees!

Additionally there is standard coupling between motor axes A2, A3 and J2, J3 (the SCARA/OCP gear box).

Robot Configuration

Reference positions

Cartesian Location Joint (LEFTY) Joint (Righty)

#{L1 , 0 , 0 , 0} {0 , 0 , 0 , 0} {2L1 , 180 , 0 , -180}
#{0 , L1 , 0 , 0}1 {0 , 90 , 0 , -90} {0 , 90 , 0 , -90}
#{-L1 , 0 , 0 , 0} {-2*L1 , 0 , 0 , 0} {0 , 180 , 0 , -180}
#{0 , 0 , 0 , 0} {-L1 , 0 , 0 , 0} {L1 , 180 , 0 , -180}

Setup file

This kinematics type is defined using “model = 7” identifier. Traverse Arm Kinematics group definition:

common shared Tarm as group axnm = a5 axnm = a6 axnm = a7 axnm = a8 model = 7

The only geometric parameter – segment length L1 is kept in <robot>.link[1][1]

Standard Z-Roll coupling definition (same as SCARA or OCP)	cplg[1][1] = 1 cplg[1][2] = 0 cplg[1][3] = 0 cplg[1][4] = 0 cplg[2][1] = 0 cplg[2][2] = 1 cplg[2][3] = 0 cplg[2][4] = 0 cplg[3][1] = 0 cplg[3][2] = 0 cplg[3][3] = 1 cplg[3][4] = 40/360 ' 40mm/per revolution cplg[4][1] = 0 cplg[4][2] = 0 cplg[4][3] = 0 cplg[4][4] = 1 coupled = 1
Definition of L1 = 500 mm and positive vertical direction of Z axis.	axis[1][1] = 0 axis[1][2] = 0 axis[1][3] = 1 link[1][1] = 500 link[1][2] = 0 link[1][3] = 0