I’m trying to model some kind of Stewart platform. The closest I could find in the eCatalog were delta robots, for example Fanuc M-2iA_6HL and I’m trying to understand how the joints are defined for its moving platform which has 3DOF.
This robot has a moving platform that can jog in X, Y and Z direction, expressed by the component properties PX, PY and PZ. The Link element for the moving platform has a joint with JointType ‘Custom’. The joint property is set to ‘Tx(PX).Ty(PY).Tz(PZ)’. However, the only property that is defined here is PX and I have no idea, where PY and PZ are defined. In the Robot Controller settings of M-2iA_6HL it is possible to select as PX, PY, PZ (and J4) as joints, but I can’t find them anywhere in the geometry.
Can someone tell me how it is possible to create a single Joint that can move freely in 3DOF (or more) with one controller?