A motion device can be any manipulator e.g. a robot, a linear unit or a turn table. For each motion device which has an own type plate an instance of a MotionDeviceType shall be created.

The kind of motion device shall be described with the Property MotionDeviceCategory of the ParameterSet of the MotionDeviceType by the MotionDeviceCategoryEnumeration, which is based on definitions of ISO 8373:2012.

The Figures Figure B.1(courtesy of KraussMaffei, used with permission) and Figure B.2 (courtesy of KUKA, used with permission) show examples of cartesian manipulators.

Figure B.2 shows a portal manipulator, a variant of a cartesian manipulator. Axis 1 in this example is driven with master-slave and a robot-hand is mounted at the flange of the cartesian manipulator.


Figure B.1 – Cartesian manipulator


Figure B.2 – Portal manipulator

Figure B.3 (courtesy of Beckhoff used with permission) shows an example of a parallel manipulator. So called delta robots, as shown in Figure B.4 (courtesy of ABB, used with permission), are also parallel manipulators.


Figure B.3 – Stewart platform or Hexapod

Figure B.4 shows an abstract example of a delta robot.


Figure B.4 – Delta robot

Figure B.5 (Courtesy of Mitsubishi Electric, used with permission) shows an abstract example of a scara robot.


Figure B.5 – Scara robot

A typical example of an articulated robot is shown in Figure B.6 (courtesy of ABB, used with permission).


Figure B.6 – Articulated robot

Another example of an articulated robot is a so called humanoid robot as Figure B.7 (courtesy of ABB, used with permission) schematically shows.


Figure B.7 – Schematic of a humanoid robot