5-Axis Transformation With the 5-axis transformation, you can control kinematics that consist of three linear spatial axes (X, Y, Z) and a tool head. The tool head consists of two axes that hold the t

Gantry System Gantry systems consist of two or three linear axes that are arranged at right angles. As transformations do not have to be executed in gantry systems, the respective modules for inverse

Gantry System with Tool Offset If the axis of the tool has an offset and does not coincide with the Z-axis of the gantry system, then the contact point of the tool does not agree with the X/Y/Z-positi

H-Gantry with Stationary Axes The kinematic configuration is similar to the gantry system, but the axes (drives) are firmly mounted. They move the tool holder by means of a belt. Transformation by mea

T-Gantry with Stationary Axes This kinematic system is similar to H-gantry systems. The drives here are also mounted stationary and the tool holder is moved by means of a belt. The transformations tha

Polar System Polar systems consist of a rotational axis (direction) and a linear axis (distance). The origin and the direction of the linear axis can be changed by means of the offsets dPhi and dR . F

2-Jointed SCARA System The Selective Compliance Assembly Robot Arm (SCARA) is a special type of industrial robot that is similar to a human arm. A SCARA system has two axes and two degrees of freedom.

3-Jointed SCARA System The 3-jointed SCARA system has a third axis which allows movement at a constant direction. As in 2-jointed systems, the movement is restricted to the X/Y plane. For more informa

Parallel Kinematics Tripod with linear axes This system has three linear drives that are in a defined angle to each other. The drives consist of 3 rails with traversing slides. The tool plate is conne

4-Axis Palletizer Kinematics The 4-axis palletizer kinematics is a general robot type that is used frequently for palletizing tasks. The kinematics are provided with four controlled rotary axes (marke