Parallelogram Kinematics

A Parallelogram Kinematics behavior calculates the forward and inverse kinematics of a Robot Controller used for palletizing operations in which the wrist orientation is always pointing downward.

Properties

If you want to use Parallelogram Kinematics with ordinary articulated robots, set LinkLength4 to zero and include the entire distance from the center of axis 3 to the center of the wrist in LinkLength3. In this case, the geometry of the fourth joint may move by the value of LinkLength4. To compensate for that effect, consider moving the actual geometry.

Name	Description
Name	Defines the name of the kinematics.
LinkLength1 to LinkLength5	Defines the length of each joint in the Robot Controller. LinkLength1 The height in Z-axis from the robot's base to center point of axis 2. LinkLength2 The distance from the center of axis 2 to the center of axis 3 using axis 2's direction. LinkLength3 The distance from the center of axis 3 to the center of the robot's wrist. LinkLength4 The offset from the wrist center to the center line of the flange node. LinkLength5 The distance from the center of the wrist to the center of the flange node in the direction of the flange.
JointOffset1	Defines the distance from the center of axis 1 to the center of axis 2 in the X-axis.
JointOffset3	Defines the distance from the center of axis 3 to the center of the robot's wrist in the Z-axis. In some cases, JointOffset3 is set to zero.