ISO 10303-214:2010(E)

Figure — Arrowleft Figure — Clause 4 Figure — Arrowright

4.2.303 Kinematic_mechanism

A Kinematic_mechanism is an association of a Kinematic_structure and the position of this Kinematic_structure relative to the reference coordinate system of the parent object. A Kinematic_mechanism describes a mechanical product whose motion is constrained by joints.

The data associated with a Kinematic_mechanism are the following:

4.2.303.1 base_link

The base_link specifies the Kinematic_link relative to that all the other Kinematic_link objects may move. The link may be a part of another Kinematic_mechanism

EXAMPLE A gripping tool attached to the end of a robot arm is an example for base_link.

This does not mean that Kinematic_mechanism objects are limited to those which have the same base at all times.

EXAMPLE In space applications, e.g., worm-like mechanisms have been designed that grab to a space-structure with one end, move on with the other end, fix themselves with an end-effector, and then loosen the original grip.

See kinematic_mechanism to kinematic_link for the application assertion.

4.2.303.2 base_placement

The base_placement describes the rigid placement of the link frame of the base relative to the reference coordinate system of the parent object of the mechanism.

See kinematic_mechanism to transformation_to_reference_frame for the application assertion.

4.2.303.3 structure_definition

The structure_definition specifies the Kinematic_structure that makes up the Kinematic_mechanism.

See kinematic_mechanism to kinematic_structure for the application assertion.



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