ISO 10303-105:2019(E)


Integrated application resource: Kinematics	ISO 10303-105:2019(E) © ISO

Cover page
Table of contents
Copyright
Foreword
Introduction
1 Scope
2 Normative references
3 Terms, definitions and abbreviated terms
3.1 Terms and definitions
3.2 Abbreviated terms
4 Kinematic property
4.1 General
4.2 Fundamental concepts and assumptions
4.3 Kinematic property entity definitions
4.4 Kinematic property subtype constraint definition

5 Kinematic topology
5.1 General
5.2 Fundamental concepts and assumptions
5.3 Kinematic topology type definition
5.4 Kinematic topology entity definitions
5.5 Kinematic topology subtype constraint definition
5.6 Kinematic topology function definitions
6 Kinematic structure
6.1 General
6.2 Fundamental concepts and assumptions
6.3 Kinematic structure type definitions
6.4 Kinematic structure entity definitions
6.5 Kinematic structure subtype constraint definition
6.6 Kinematic structure function definitions

7 Kinematic state
7.1 General
7.2 Fundamental concepts and assumptions
7.3 Kinematic state type definitions
7.4 Kinematic state entity definitions
7.5 Kinematic state subtype constraint definition
7.6 Kinematic state function definitions
8 Kinematic motion representation
8.1 General
8.2 Fundamental concepts and assumptions
8.3 Kinematic motion representation type definitions
8.4 Kinematic motion representation entity definitions
8.5 Kinematic motion representation subtype constraint definitions
9 Kinematic analysis control and result
9.1 General
9.2 Fundamental concepts and assumptions
9.3 Kinematic analysis control and result type definitions
9.4 Kinematic analysis control and result entity definitions
9.5 Kinematic analysis control and result subtype constraint definition
A Short names of entities
B Information object registration
C Computer interpretable listings
D EXPRESS-G diagrams
E Technical discussion
F Change history
Bibliography
Index

Contents

1 Scope
2 Normative references
3 Terms, definitions and abbreviated terms
3.1 Terms and definitions
3.2 Abbreviated terms
4 Kinematic property schema
     4.1 General
     4.2 Fundamental concepts and assumptions
     4.3 Kinematic property entity definitions
          4.3.1 context_dependent_kinematic_link_representation
          4.3.2 kinematic_property_definition_representation
          4.3.3 kinematic_property_mechanism_representation
          4.3.4 kinematic_property_topology_representation
          4.3.5 product_definition_kinematics
          4.3.6 product_definition_relationship_kinematics
     4.4 Kinematic property subtype constraint definition
          4.4.1 kps_property_definition_subtypes
5 Kinematic topology schema
     5.1 General
     5.2 Fundamental concepts and assumptions
     5.3 Kinematic topology type definition
          5.3.1 kinematic_topology_representation_select
     5.4 Kinematic topology entity definitions
          5.4.1 kinematic_joint
          5.4.2 kinematic_link
          5.4.3 kinematic_loop
          5.4.4 kinematic_topology_directed_structure
          5.4.5 kinematic_topology_network_structure
          5.4.6 kinematic_topology_structure
          5.4.7 kinematic_topology_substructure
          5.4.8 kinematic_topology_tree_structure
          5.4.9 oriented_joint
     5.5 Kinematic topology subtype constraint definition
          5.5.1 kts_representation_subtypes
     5.6 Kinematic topology function definitions
          5.6.1 get_kinematic_joints_from_kinematic_loops
          5.6.2 get_kinematic_joints_from_oriented_joints
6 Kinematic structure schema
     6.1 General
     6.2 Fundamental concepts and assumptions
     6.3 Kinematic structure type definitions
          6.3.1 actuated_direction
          6.3.2 kinematic_link_representation_items
          6.3.3 rigid_placement
     6.4 Kinematic structure entity definitions
          6.4.1 actuated_kinematic_pair
          6.4.2 cylindrical_pair
          6.4.3 cylindrical_pair_with_range
          6.4.4 fully_constrained_pair
          6.4.5 gear_pair
          6.4.6 gear_pair_with_range
          6.4.7 high_order_kinematic_pair
          6.4.8 homokinetic_pair
          6.4.9 kinematic_link_representation
          6.4.10 kinematic_link_representation_association
          6.4.11 kinematic_pair
          6.4.12 linear_flexible_and_pinion_pair
          6.4.13 linear_flexible_and_planar_curve_pair
          6.4.14 linear_flexible_link_representation
          6.4.15 low_order_kinematic_pair
          6.4.16 low_order_kinematic_pair_with_motion_coupling
          6.4.17 low_order_kinematic_pair_with_range
          6.4.18 mechanism_representation
          6.4.19 pair_representation_relationship
          6.4.20 planar_curve_pair
          6.4.21 planar_curve_pair_range
          6.4.22 planar_pair
          6.4.23 planar_pair_with_range
          6.4.24 point_on_planar_curve_pair
          6.4.25 point_on_planar_curve_pair_with_range
          6.4.26 point_on_surface_pair
          6.4.27 point_on_surface_pair_with_range
          6.4.28 prismatic_pair
          6.4.29 prismatic_pair_with_range
          6.4.30 rack_and_pinion_pair
          6.4.31 rack_and_pinion_pair_with_range
          6.4.32 revolute_pair
          6.4.33 revolute_pair_with_range
          6.4.34 rigid_link_representation
          6.4.35 rolling_curve_pair
          6.4.36 rolling_surface_pair
          6.4.37 screw_pair
          6.4.38 screw_pair_with_range
          6.4.39 sliding_curve_pair
          6.4.40 sliding_surface_pair
          6.4.41 spherical_pair
          6.4.42 spherical_pair_with_pin
          6.4.43 spherical_pair_with_pin_and_range
          6.4.44 spherical_pair_with_range
          6.4.45 su_parameters
          6.4.46 surface_pair
          6.4.47 surface_pair_with_range
          6.4.48 unconstrained_pair
          6.4.49 universal_pair
          6.4.50 universal_pair_with_range
     6.5 Kinematic structure subtype constraint definition
          6.5.1 kss_representation_subtypes
     6.6 Kinematic structure function definitions
          6.6.1 collect_joints
          6.6.2 plane_angle_for_pair_in_radian
          6.6.3 representation_of_link
          6.6.4 sort_link_associations
7 Kinematic state schema
     7.1 General
     7.2 Fundamental concepts and assumptions
     7.3 Kinematic state type definitions
          7.3.1 spatial_rotation
          7.3.2 spherical_pair_select
          7.3.3 ypr_enumeration
          7.3.4 ypr_rotation
     7.4 Kinematic state entity definitions
          7.4.1 cylindrical_pair_value
          7.4.2 gear_pair_value
          7.4.3 low_order_kinematic_pair_value
          7.4.4 mechanism_state_representation
          7.4.5 pair_value
          7.4.6 planar_pair_value
          7.4.7 point_on_planar_curve_pair_value
          7.4.8 point_on_surface_pair_value
          7.4.9 prismatic_pair_value
          7.4.10 rack_and_pinion_pair_value
          7.4.11 revolute_pair_value
          7.4.12 rolling_curve_pair_value
          7.4.13 rolling_surface_pair_value
          7.4.14 rotation_about_direction
          7.4.15 screw_pair_value
          7.4.16 sliding_curve_pair_value
          7.4.17 sliding_surface_pair_value
          7.4.18 spherical_pair_value
          7.4.19 unconstrained_pair_value
          7.4.20 universal_pair_value
     7.5 Kinematic state subtype constraint definition
          7.5.1 kss_geometric_representation_item_subtypes
     7.6 Kinematic state function definitions
          7.6.1 convert_spatial_to_ypr_rotation
          7.6.2 ypr_index
8 Kinematic motion representation schema
     8.1 General
     8.2 Fundamental concepts and assumptions
     8.3 Kinematic motion representation type definitions
          8.3.1 link_or_shape_representation
          8.3.2 interpolation_type
     8.4 Kinematic motion representation entity definitions
          8.4.1 interpolated_configuration_representation
          8.4.2 interpolated_configuration_sequence
          8.4.3 interpolated_configuration_segment
          8.4.4 link_motion_relationship
          8.4.5 item_link_motion_relationship
          8.4.6 link_motion_transformation
          8.4.7 link_motion_representation_along_path
          8.4.8 geometric_representation_context_with_parameter
          8.4.9 kinematic_path
          8.4.10 kinematic_path_defined_by_nodes
          8.4.11 kinematic_path_defined_by_curves
          8.4.12 kinematic_path_segment
          8.4.13 path_parameter_representation
          8.4.14 path_parameter_representation_context
          8.4.15 path_node
          8.4.16 point_to_point_path
          8.4.17 circular_path
          8.4.18 linear_path
          8.4.19 curve_based_path
          8.4.20 curve_based_path_with_orientation
          8.4.21 curve_based_path_with_orientation_and_parameters
     8.5 Kinematic motion representation subtype constraint definitions
          8.5.1 kmr_representation_subtypes
          8.5.2 kmr_geometric_representation_item_subtypes
          8.5.3 kmr_geometric_representation_context_subtypes
9 Kinematic analysis control and result schema
     9.1 General
     9.2 Fundamental concepts and assumptions
     9.3 Kinematic analysis control and result type definitions
          9.3.1 kinematic_analysis_definition
          9.3.2 kinematic_result
     9.4 Kinematic analysis control and result entity definitions
          9.4.1 kinematic_analysis_consistency
          9.4.2 kinematic_analysis_result
          9.4.3 kinematic_control
          9.4.4 prescribed_path
          9.4.5 resulting_path
     9.5 Kinematic analysis control and result subtype constraint definition
          9.5.1 link_motion_representation_along_path_subtypes
Annex A Short names of entities
Annex B Information object registration
   B.1 Document identification
   B.2 Schema identification
Annex C Computer interpretable listings
Annex D EXPRESS-G diagrams
Annex E Technical discussion
Annex F Change history
F.1 General
F 2 Changes made in edition 2
F 2.1 Summary of changes
F 2.5 Changes made to schema kinematic_structure_schema
F 3 Changes made in edition 3
F 3.1 Summary of changes
F 3.3 Changes made to schema kinematic_motion_representation_schema
Bibliography
Index

Figures

Figure 1 — The main relationships between the schemas of ISO 10303-105 and schemas of other parts of ISO 10303
Figure 2 — Example of a kinematic network structure
Figure 3 — Example of a kinematic topology tree structure
Figure 4 — Example of a joint representing a cylindrical pair
Figure 5 — Examples of gear pairs in different situations
Figure 6 — Example of a planar curve pair
Figure 7 — Placement relationships of the pair frames relative to the mating links
Figure 8 — Example of a joint representing a planar pair
Figure 9 — Example of a point on planar curve pair
Figure 10 — Example of a point on surface pair
Figure 11 — Example of a joint representing a prismatic pair
Figure 12 — Example of a rack and pinion pair in the reference situation
Figure 13 — Example of a joint representing a revolute pair
Figure 14 — Example of a joint representing a screw pair
Figure 15 — Example of a joint representing a spherical pair
Figure 16 — Definition of the su_parameters
Figure 17 — Exploded view of a surface pair
Figure 18 — Example of a joint representing a universal pair
Figure D.1 — EXPRESS-G diagram of the kinematic_property_schema (1 of 2)
Figure D.2 — EXPRESS-G diagram of the kinematic_property_schema (2 of 2)
Figure D.3 — EXPRESS-G diagram of the kinematic_topology_schema (1 of 2)
Figure D.4 — EXPRESS-G diagram of the kinematic_topology_schema (2 of 2)
Figure D.5 — EXPRESS-G diagram of the kinematic_structure_schema (1 of 7)
Figure D.6 — EXPRESS-G diagram of the kinematic_structure_schema (2 of 7)
Figure D.7 — EXPRESS-G diagram of the kinematic_structure_schema (3 of 7)
Figure D.8 — EXPRESS-G diagram of the kinematic_structure_schema (4 of 7)
Figure D.9 — EXPRESS-G diagram of the kinematic_structure_schema (5 of 7)
Figure D.10 — EXPRESS-G diagram of the kinematic_structure_schema (6 of 7)
Figure D.11 — EXPRESS-G diagram of the kinematic_structure_schema (7 of 7)
Figure D.12 — EXPRESS-G diagram of the kinematic_state_schema (1 of 5)
Figure D.13 — EXPRESS-G diagram of the kinematic_state_schema (2 of 5)
Figure D.14 — EXPRESS-G diagram of the kinematic_state_schema (3 of 5)
Figure D.15 — EXPRESS-G diagram of the kinematic_state_schema (4 of 5)
Figure D.16 — EXPRESS-G diagram of the kinematic_state_schema (5 of 5)
Figure D.17 — EXPRESS-G diagram of the kinematic_motion_representation_schema (1 of 3)
Figure D.18 — EXPRESS-G diagram of the kinematic_motion_representation_schema (2 of 3)
Figure D.19 — EXPRESS-G diagram of the kinematic_motion_representation_schema (3 of 3)
Figure D.20 — EXPRESS-G diagram of the kinematic_analysis_control_and_result_schema (1 of 2)
Figure D.21 — EXPRESS-G diagram of the kinematic_analysis_control_and_result_schema (2 of 2)

Tables

Table C.1 — EXPRESS listings

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