The following sections describe the Kinematic Modules that are available in the system. The kinematic modules provide data and algorithms that vary with the specific geometry of the robot. This geometry specific information is a key enabling element of the controller's ability to operate a robot in Cartesian (XYZ) coordinates. For example, the kinematic modules contain the data and routines to converting the XYZ position and orientation of the robot's end-effector into an equivalent set of joint coordinate values and vise versa. This capability allows the controller to accept positioning commands in XYZ coordinates and generate the proper motor commands whether the robot is a simple gantry type or a complex six-degree-of-freedom robot with all rotary joints. This functionality also permits robots with a complex geometry to be moved along straight line paths during both manual control and automatic execution.
New modules are being developed and added to the library all of the time. Therefore, if you don’t see a Kinematic Module in the library that satisfies your requirements, please contact Precise for more information.
NOTE: The modules within the Kinematics Library provide generalized geometric models that can be applied to a wide range of mechanical systems. In some cases, 3rd party companies may have patents or other intellectual property rights to selected geometries either globally or subject to certain limitations. It is your sole responsibility to ensure that your mechanism with or without Precise’s Kinematic Library software does not violate other party’s intellectual properties rights. By adding a module to the Kinematic Library and/or providing you access to the Library, Precise is not granting a right to utilize a specific geometry or a license or weaver to any 3rd party patent or intellectual property rights
The following table summarizes each of the available Kinematics Modules To select a Kinematic module, the "Module #" should be listed in the "Robot types" (DataID 116).
| Module # | Name | Description |
|---|---|---|
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1 |
Convenience module that allows from 1 to 12 axes to be moved in a joint coordinated fashion without a kinematic model. Cartesian motions and Locations are not supported. |
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7 |
Convenience module that allows the position of from 1 to 12 encoders, which are not attached to motors, to be read. |
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2 |
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. |
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9 |
Provides the capability of the standard XYZTheta robot and adds support for split-axis control, motor coupling and motor linearity compensation. |
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3 |
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. |
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13 |
Controls an X/Y/Z table on which is mounted two rotary axes that tip and tilt the robot's end-effector. |
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23 |
Controls a Y/Z/R robot that employs a mechanically coupled rotary axis to produce motions like a XYZ mechanism with a fixed orientation for the end-effector. Includes a single "extra" axis. |
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5 |
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. |
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16 |
Three-axis single arm or four-axis dual arm robot (with no elbow joints). This is similar to the conventional RPR mechanism, except that rotations of the shoulder joint rotate the gripper about the base in additional to changing its radial position, rather than producing pure radial motions. This configuration is useful in the semi-conductor market. |
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4 |
Four to eight 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 independent axes such as a servo gripper of linear traverse. This configuration is very popular in both the semi-conductor and life sciences markets. |
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12 |
Four to eight axis single or dual Yaw (PRRR) mechanism that is an enhanced variation of the standard "Single or Dual Yaw (RPRR)" kinematic module. |
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21 |
Four or five-axis Single or Dual Yaw (PRsRR) mechanism that is similar to a PRRR device except that it has an extra axis and link that are electronically coupled to the first rotary axis. The coupled axis converts the motion of the shoulder rotation to a linear translation. |
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22 |
Six-axis RP4R (RPRRRR) mechanism that is equivalent to a RPR robot with a 3-axis yaw-pitch-roll wrist integrated into the end of the outer link. |
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10 |
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. This is the most popular geometry for vertical assembly and small parts pick-and-place operations. |
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18 |
Two degree-of-freedom planar "Delta" parallel link mechanism that translates its tool platform in a fixed orientation with respect to the World Y and Z axes. |
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6 |
Four degree-of-freedom "Delta" parallel link mechanism that translates its tool platform in a fixed orientation with respect to the World X, Y, and Z axes. This geometry is very popular in the high-speed packaging industry for light payload applications. |
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11 |
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. |
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14 |
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. |
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17 |
4-axis robot with all rotary actuators or a 5-axis robot that includes a first linear drive that moves the robot along the World Y-axis. The 4-axis configuration is a simplified version of what is commonly referred to as an "Articulated" robot. The 5-axis geometry is an unusual configuration that is appropriate for some specialized inspection applications. |
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15 |
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 position 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. |
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19 |
6-Axis robot that consists of all rotary actuators. This configuration is a variation of the standard "Articulated" robot geometry where the 2nd, 3rd, and 4th axes are parallel and form a classic kinematic 4-bar chain. |
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20 |
7-axis articulated robot with all rotary axes. This is a super set of the conventional 6-axis articulated robot in that it includes a redundant 7th axis that is controlled independently to assist in reaching around objects. |