Difference between revisions of "TARM robot"

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(Added to Category:Robot Models)
 
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{{Languages|TARM_robot}}
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{{Languages|TARM_robot}}  
 
= TARM (Traverse Arm) robot =
 
= TARM (Traverse Arm) robot =
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==General setup==
 
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* J1 is the linear traverse axis
 
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* J2 is angular axis of the Z-Roll couple.
 
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* J3 linear (Z) axis of the Z-Roll couple.
 
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* J4 additional rotational axis of the end-effector.
 
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==Kinematics==
 
  
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[[Image:Inverse dynamic model for Traverse Arm kinematics - Definitions.png]]
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== General setup ==
  
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==Main Kinematics Equations==
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*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.
  
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===Direct Kinematics:===
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== Kinematics ==
  
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===Inverse Kinematics:===
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[[File:Inverse dynamic model for Traverse Arm kinematics - Definitions.png|RTENOTITLE]]
  
 +
== Main Kinematics Equations ==
  
 +
=== Direct Kinematics: ===
 +
 +
=== Inverse Kinematics: ===
  
 
{{Note|Singularity J2 at 90 degrees!}}
 
{{Note|Singularity J2 at 90 degrees!}}
  
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Additionally there is standard coupling between motor axes A2, A3 and J2, J3 (the
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Additionally there is standard coupling between motor axes A2, A3 and J2, J3 (the SCARA/OCP gear box).
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SCARA/OCP gear box).
 
  
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==Robot Configuration==
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== Robot Configuration ==
  
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[[Image:TARMCONFIG.PNG|800px]]
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[[File:TARMCONFIG.PNG|800px|TARMCONFIG.PNG]]
  
 +
 
 +
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== Reference positions ==
  
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==Reference positions==
 
 
Cartesian Location Joint (LEFTY) Joint (Righty)
 
Cartesian Location Joint (LEFTY) Joint (Righty)
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  #{L1 , 0 , 0 , 0} {0 , 0 , 0 , 0} {2L1 , 180 , 0 , -180}
 
  #{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}
 
  #{0 , L1 , 0 , 0}1 {0 , 90 , 0 , -90} {0 , 90 , 0 , -90}
Line 36: Line 40:
 
  #{0 , 0 , 0 , 0} {-L1 , 0 , 0 , 0} {L1 , 180 , 0 , -180}
 
  #{0 , 0 , 0 , 0} {-L1 , 0 , 0 , 0} {L1 , 180 , 0 , -180}
  
 +
 
 +
 +
== Setup file ==
  
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==Setup file==
 
 
This kinematics type is defined using “model = 7” identifier. Traverse Arm Kinematics group definition:
 
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
 
  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]'''
 
The only geometric parameter – segment length L1 is kept in '''<robot>.link[1][1]'''
  
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{|border="1" width="20%"
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{| border="1" width="20%"
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!width="50"|
 
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!width="50" |
 
 
|-
 
|-
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|
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! width="50" | &nbsp;
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Standard
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! width="50" | &nbsp;
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Z-Roll
 
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coupling
 
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definition
 
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(same as
 
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SCARA or
 
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OCP)
 
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|
 
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cplg[1][1] = 1<br>
 
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cplg[1][2] = 0<br>
 
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cplg[1][3] = 0<br>
 
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cplg[1][4] = 0<br>
 
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cplg[2][1] = 0<br>
 
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cplg[2][2] = 1<br>
 
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cplg[2][3] = 0<br>
 
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cplg[2][4] = 0<br>
 
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cplg[3][1] = 0<br>
 
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cplg[3][2] = 0<br>
 
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cplg[3][3] = 1<br>
 
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cplg[3][4] = 40/360 ' 40mm/per revolution<br>
 
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cplg[4][1] = 0<br>
 
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cplg[4][2] = 0<br>
 
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cplg[4][3] = 0<br>
 
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cplg[4][4] = 1<br>
 
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coupled = 1<br>
 
 
|-
 
|-
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|
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|
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Definition of L1 = 500 mm and positive
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Standard Z-Roll coupling definition (same as SCARA or OCP)
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vertical direction of Z axis.
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|
+
|
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axis[1][1] = 0<br>
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cplg[1][1] = 1<br/> cplg[1][2] = 0<br/> cplg[1][3] = 0<br/> cplg[1][4] = 0<br/> cplg[2][1] = 0<br/> cplg[2][2] = 1<br/> cplg[2][3] = 0<br/> cplg[2][4] = 0<br/> cplg[3][1] = 0<br/> cplg[3][2] = 0<br/> cplg[3][3] = 1<br/> cplg[3][4] = 40/360 ' 40mm/per revolution<br/> cplg[4][1] = 0<br/> cplg[4][2] = 0<br/> cplg[4][3] = 0<br/> cplg[4][4] = 1<br/> coupled = 1
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axis[1][2] = 0<br>
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axis[1][3] = 1<br>
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|-
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link[1][1] = 500<br>
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|  
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link[1][2] = 0<br>
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Definition of L1 = 500 mm and positive vertical direction of Z axis.
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link[1][3] = 0<br>
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 +
|  
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axis[1][1] = 0<br/> axis[1][2] = 0<br/> axis[1][3] = 1<br/> link[1][1] = 500<br/> link[1][2] = 0<br/> link[1][3] = 0
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|}
 
|}
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 +
[[Category:Robot Models]]

Latest revision as of 05:35, 8 April 2022

Language: English  • 中文（简体）‎

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

RTENOTITLE

Main Kinematics Equations

Direct Kinematics:

Inverse Kinematics:

NOTE-Info.svgNOTE
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

TARMCONFIG.PNG

 

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

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