ISO 10303-214:2010(E)
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:
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.
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.
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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