5 Axis Kinematics

[Chevvron]

Tom,

Having looked through your recommended 5 axis kinematic arrangement, the Wiki entry and the latest RTCP posts I unfortunately have a few questions :

Q1 : are there any pictorial diagrams of 5 axis gimbal CB and 5 axis gimbal ab as I think the differenceiis the position of C0 either around Y or X ?

Q2 : as only 1 pivot length is required I am correct in thinking that the tool centre line of the spindle connected to the B axis when it is pointing vertically down is is the centre line of the C rotation axis ?

Q3 : is there a sample of the Kinematics.txt file for the above kinematic arrangement.

Maybe I haven't found the right pages so far.

Regards,
Tim

[TomKerekes]

Hi Tim,

Q1 : are there any pictorial diagrams of 5 axis gimbal CB and 5 axis gimbal ab as I think the differenceiis the position of C0 either around Y or X ?

I think they are basically the same kinematics except one uses the AB to control the angles and the other uses CB to control the angles. I think CB is more appropriate as normally:

A is rotation about the X Axis
B is rotation about the Y Axis
C is rotation about the Z Axis

here is an image from the User who used Kinematics5AxisGimbalAB

And a Video



From this related Thread.

Q2 : as only 1 pivot length is required I am correct in thinking that the tool centre line of the spindle connected to the B axis when it is pointing vertically down is is the centre line of the C rotation axis ?

Yes I believe that is correct. Unlike your system.

Q3 : is there a sample of the Kinematics.txt file for the above kinematic arrangement.

The Kinematics.txt file currently just contains the name of the Kinematics to use as described in the wiki. In the future some Kinematics parameters might be included to avoid the necessity of re-compiling for only a parameter change.