Difference between revisions of "Component: Kinematics Arm (Mechatronics)"

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{{Fcfile|KinematicsArmDemo.fcfx|Kinematics Arm Demo}}
 
{{Fcfile|KinematicsArmDemo.fcfx|Kinematics Arm Demo}}
 +
 +
  
 
==Macro reference==
 
==Macro reference==
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| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | DH Parameters
 
| width="90%" style="background-color:#EAE1EA; color:#4B008D;" | DH Parameters
 
|-
 
|-
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | d
 +
|-
 +
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | Theta
 +
|-
 +
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | a / r
 +
|-
 +
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | alpha
 +
|-
 +
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | d
 +
|-
 +
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | Theta
 +
|-
 +
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | a / r
 +
|-
 +
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | alpha
 +
|-
 +
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | d
 +
|-
 +
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | Theta
 +
|-
 +
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | a / r
 +
|-
 +
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | alpha
 +
|-
 +
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | d
 +
|-
 +
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | Theta
 +
|-
 +
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | a / r
 +
|-
 +
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | alpha
 +
|-
 +
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | d
 +
|-
 +
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | Theta
 +
|-
 +
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | a / r
 +
|-
 +
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | alpha
 +
|-
 +
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | d
 +
|-
 +
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | Theta
 +
|-
 +
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | a / r
 +
|-
 +
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | alpha
 +
|-
 +
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | d
 +
|-
 +
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | Theta
 +
|-
 +
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | a / r
 +
|-
 +
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | alpha
 +
|-
 +
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | d
 +
|-
 +
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | Theta
 +
|-
 +
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | a / r
 +
|-
 +
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | alpha
 +
|-
 +
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | d
 +
|-
 +
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | Theta
 +
|-
 +
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | a / r
 +
|-
 +
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | alpha
 +
|-
 +
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | d
 +
|-
 +
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | Theta
 +
|-
 +
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | a / r
 +
|-
 +
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | alpha
 +
|-
 +
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | d
 +
|-
 +
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | Theta
 +
|-
 +
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | a / r
 +
|-
 +
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | alpha
 +
|-
 +
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | d
 +
|-
 +
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | Theta
 +
|-
 +
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | a / r
 +
|-
 +
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | alpha
 +
|-
 +
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | d
 +
|-
 +
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | Theta
 +
|-
 +
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | a / r
 +
|-
 +
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | alpha
 +
|-
 +
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | d
 +
|-
 +
| colspan="2" | the distance between the previous x-axis and the current x-axis, along the previous z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | Theta
 +
|-
 +
| colspan="2" | the angle around the z-axis between the previous x-axis and the current x-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | a / r
 +
|-
 +
| colspan="2" | the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
 +
|-
 +
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 +
| width="90%" | alpha
 +
|-
 +
| colspan="2" | the angle around the common normal to between the previous z-axis and current z-axis 
 
|-
 
|-
 
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]
 
| width="10%" align="center" | [[File:Fc9-type-15-icon.png]]

Revision as of 15:07, 5 December 2023

Author Matrix TSL
Version 1.0
Category Mechatronics


Kinematics Arm component

Demonstrates the principals of kinematics using a user configurable robot arm. Provides full simulation of the movements of the arm and the calculations of the axis positions and rotations.

Component Source Code

Please click here to download the component source project: FC_Comp_Source_KinematicsArm.fcfx

Please click here to view the component source code (Beta): FC_Comp_Source_KinematicsArm.fcfx

Detailed description

No detailed description exists yet for this component

Examples

Example program showing a six axis robot arm with a gripper, controlled using sliders on the 2d panel.

FC6 Icon.png Kinematics Arm Demo


Macro reference

ForwardKinematics

Fc9-comp-macro.png ForwardKinematics
Uses the current joint angles and positions to calculate the XYZ and rotation of each of the subsequent linking joints. 
Fc9-void-icon.png - VOID Return


GetJointPosition

Fc9-comp-macro.png GetJointPosition
Gets the XYZ position of the selected joint axis. 
Fc9-u8-icon.png - BYTE Axis
Range: 0 to NumAxis-1 where NumAxis-1 = end tool location 
Fc9-f32-icon.png - FLOAT XYZ
 
Fc9-void-icon.png - VOID Return


GetJointRotation

Fc9-comp-macro.png GetJointRotation
Gets the XYZ rotation of the selected joint axis. 
Fc9-u8-icon.png - BYTE Axis
Range: 0 to NumAxis-1 where NumAxis-1 = end tool location 
Fc9-f32-icon.png - FLOAT XYZ
 
Fc9-void-icon.png - VOID Return


SetGripper

Fc9-comp-macro.png SetGripper
Open or close the gripper 
Fc9-u8-icon.png - BYTE Position
0=Fully Closed, 255=Fully Open 
Fc9-void-icon.png - VOID Return


SetJoint

Fc9-comp-macro.png SetJoint
Sets the angle or translation of the specified joint axis.  
Fc9-u8-icon.png - BYTE Axis
Range: 0 to NumAxis -1 
Fc9-f32-icon.png - FLOAT Value
Angle or dimension 
Fc9-bool-icon.png - BOOL Type
0=Absolute, 1=Incremental 
Fc9-void-icon.png - VOID Return


Property reference

Fc9-prop-icon.png Properties
Fc9-conn-icon.png Axis
Fc9-type-16-icon.png Number of axis
 
Fc9-conn-icon.png Axis 0
Fc9-type-16-icon.png Axis Type
Sets the movement type of the axis 
Fc9-type-2-icon.png Colour
Specifies the fill colour of the shape 
Fc9-conn-icon.png DH Parameters
Fc9-type-15-icon.png d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Fc9-type-15-icon.png Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
Fc9-type-15-icon.png a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
Fc9-type-15-icon.png alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Fc9-conn-icon.png Axis 1
Fc9-type-16-icon.png Axis Type
Sets the movement type of the axis 
Fc9-type-2-icon.png Colour
Specifies the fill colour of the shape 
Fc9-conn-icon.png DH Parameters
Fc9-type-15-icon.png d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Fc9-type-15-icon.png Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
Fc9-type-15-icon.png a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
Fc9-type-15-icon.png alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Fc9-conn-icon.png Axis 2
Fc9-type-16-icon.png Axis Type
Sets the movement type of the axis 
Fc9-type-2-icon.png Colour
Specifies the fill colour of the shape 
Fc9-conn-icon.png DH Parameters
Fc9-type-15-icon.png d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Fc9-type-15-icon.png Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
Fc9-type-15-icon.png a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
Fc9-type-15-icon.png alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Fc9-conn-icon.png Axis 3
Fc9-type-16-icon.png Axis Type
Sets the movement type of the axis 
Fc9-type-2-icon.png Colour
Specifies the fill colour of the shape 
Fc9-conn-icon.png DH Parameters
Fc9-type-15-icon.png d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Fc9-type-15-icon.png Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
Fc9-type-15-icon.png a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
Fc9-type-15-icon.png alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Fc9-conn-icon.png Axis 4
Fc9-type-16-icon.png Axis Type
Sets the movement type of the axis 
Fc9-type-2-icon.png Colour
Specifies the fill colour of the shape 
Fc9-conn-icon.png DH Parameters
Fc9-type-15-icon.png d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Fc9-type-15-icon.png Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
Fc9-type-15-icon.png a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
Fc9-type-15-icon.png alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Fc9-conn-icon.png Axis 5
Fc9-type-16-icon.png Axis Type
Sets the movement type of the axis 
Fc9-type-2-icon.png Colour
Specifies the fill colour of the shape 
Fc9-conn-icon.png DH Parameters
Fc9-type-15-icon.png d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Fc9-type-15-icon.png Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
Fc9-type-15-icon.png a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
Fc9-type-15-icon.png alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Fc9-type-15-icon.png d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Fc9-type-15-icon.png Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
Fc9-type-15-icon.png a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
Fc9-type-15-icon.png alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Fc9-type-15-icon.png d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Fc9-type-15-icon.png Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
Fc9-type-15-icon.png a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
Fc9-type-15-icon.png alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Fc9-type-15-icon.png d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Fc9-type-15-icon.png Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
Fc9-type-15-icon.png a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
Fc9-type-15-icon.png alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Fc9-type-15-icon.png d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Fc9-type-15-icon.png Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
Fc9-type-15-icon.png a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
Fc9-type-15-icon.png alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Fc9-type-15-icon.png d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Fc9-type-15-icon.png Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
Fc9-type-15-icon.png a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
Fc9-type-15-icon.png alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Fc9-type-15-icon.png d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Fc9-type-15-icon.png Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
Fc9-type-15-icon.png a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
Fc9-type-15-icon.png alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Fc9-type-15-icon.png d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Fc9-type-15-icon.png Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
Fc9-type-15-icon.png a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
Fc9-type-15-icon.png alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Fc9-type-15-icon.png d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Fc9-type-15-icon.png Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
Fc9-type-15-icon.png a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
Fc9-type-15-icon.png alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Fc9-type-15-icon.png d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Fc9-type-15-icon.png Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
Fc9-type-15-icon.png a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
Fc9-type-15-icon.png alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Fc9-type-15-icon.png d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Fc9-type-15-icon.png Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
Fc9-type-15-icon.png a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
Fc9-type-15-icon.png alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Fc9-type-15-icon.png d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Fc9-type-15-icon.png Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
Fc9-type-15-icon.png a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
Fc9-type-15-icon.png alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Fc9-type-15-icon.png d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Fc9-type-15-icon.png Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
Fc9-type-15-icon.png a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
Fc9-type-15-icon.png alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Fc9-type-15-icon.png d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Fc9-type-15-icon.png Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
Fc9-type-15-icon.png a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
Fc9-type-15-icon.png alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Fc9-type-15-icon.png d
the distance between the previous x-axis and the current x-axis, along the previous z-axis 
Fc9-type-15-icon.png Theta
the angle around the z-axis between the previous x-axis and the current x-axis 
Fc9-type-15-icon.png a / r
the length of the common normal, which is the distance between the previous z-axis and the current z-axis 
Fc9-type-15-icon.png alpha
the angle around the common normal to between the previous z-axis and current z-axis 
Fc9-conn-icon.png Gripper
Fc9-type-7-icon.png Show Gripper
 
Fc9-type-1-icon.png Colour
 
Fc9-conn-icon.png Link Mechanics
Fc9-type-7-icon.png Show Links
Determines if the links between axis are shown. 
Fc9-type-2-icon.png Link Colour
 
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