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Application module:
Kinematic motion representation |
ISO/TS 10303-1796:2019(E)
© ISO
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This clause specifies the information requirements for the
Kinematic motion representation
application module. The information requirements are specified as the
Application Reference Model (ARM) of this application module.
NOTE 1 A graphical representation of the information
requirements is given in
Annex C.
NOTE 2 The mapping specification is specified in
5.1. It shows how
the information requirements are met by using common resources and
constructs defined or imported in the MIM schema of this application
module.
This clause defines the information requirements to which implementations shall
conform using the EXPRESS language as defined in ISO 10303-11.
The following begins the
Kinematic_motion_representation_arm
schema and identifies the necessary external references.
EXPRESS specification:
*)
SCHEMA Kinematic_motion_representation_arm;
(*
The following EXPRESS interface statements specify the elements
imported from the ARMs of other application modules.
EXPRESS specification:
*)
USE FROM
B_spline_geometry_arm;
--
ISO/TS 10303-1801
USE FROM
Contextual_shape_positioning_arm;
--
ISO/TS 10303-1027
USE FROM
Kinematic_state_arm;
--
ISO/TS 10303-1798
USE FROM
Parametric_representation_arm;
--
ISO/TS 10303-1813
USE FROM
Product_occurrence_arm;
--
ISO/TS 10303-1063
REFERENCE FROM
Foundation_representation_arm
--
ISO/TS 10303-1006
(using_representations);
(*
NOTE 1
The schemas referenced above are specified in the following
part of ISO 10303:
| B_spline_geometry_arm |
ISO/TS 10303-1801 |
| Contextual_shape_positioning_arm |
ISO/TS 10303-1027 |
| Kinematic_state_arm |
ISO/TS 10303-1798 |
| Parametric_representation_arm |
ISO/TS 10303-1813 |
| Product_occurrence_arm |
ISO/TS 10303-1063 |
| Foundation_representation_arm |
ISO/TS 10303-1006 |
NOTE 2
See Annex C,
Figures
C.1, C.2and C.3
for a graphical representation of this schema.
This subclause specifies the ARM types
for this application module. The ARM types and
definitions are specified below.
The interpolation_type describes the method of interpolation between two configuration definitions of a kinematic structure.
EXPRESS specification:
*)
TYPE
interpolation_type =
ENUMERATION
OF
(undefined_interpolation_type,
discontinuous_interpolation_type,
synchronous_interpolation_type,
linear_interpolation_type);
END_TYPE;
(*
Enumerated item definitions:
undefined_interpolation_type:
an interpolation in which all pair parameters shall match the set of pair parameter
values defined in the next configuration definition.
discontinuous_interpolation_type:
the pair parameters are changing abruptly.
synchronous_interpolation_type:
an interpolation in which all pair parameters are interpolated such that the
pair parameters pass from one value to the next one at the same rate.
The rate may vary proportionally among the pairs.
linear_interpolation_type:
an interpolation in which all pair parameters are interpolated such that the pair parameters pass from one value to the next
one
at the same rate.
The rate remains constant.
The kmr_geometric_representation_select type is an extension
of the
geometric_representation_select type.
It adds the data
type
Link_motion_representation_along_path
to the list of alternate data types.
NOTE The list of entity data types may be
extended in application modules that use the constructs of
this module.
EXPRESS specification:
*)
TYPE
kmr_geometric_representation_select =
EXTENSIBLE
GENERIC_ENTITY
SELECT
BASED_ON
geometric_representation_select
WITH
(Link_motion_representation_along_path);
END_TYPE;
(*
The kmr_initial_application_domain_enumeration provides predefined identifiers for the initial application domains of
Product_view_definitions.
EXPRESS specification:
*)
TYPE
kmr_initial_application_domain_enumeration =
ENUMERATION
BASED_ON
initial_application_domain_enumeration
WITH
(motion);
END_TYPE;
(*
Enumerated item definitions:
motion:
the application domain is motion.
The link_or_shape_representation type allows for the designation of the data
types
Kinematic_link_representation and Geometric_model.
EXPRESS specification:
*)
TYPE
link_or_shape_representation =
SELECT
(Kinematic_link_representation,
Geometric_model);
END_TYPE;
(*
This subclause specifies the ARM entities for this
module. Each ARM application entity is an atomic element that
embodies a unique application concept and contains attributes
specifying the data elements of the entity. The ARM
entities and definitions are specified below.
A Circular_path is a type of
Path_node.
A Circular_path describes a portion of a complete
Kinematic_path
such that the interpolation rule gives a circle for the translational part of the motion of the origin of the frame of the
Kinematic_link.
The interpolation for the orientation is performed in synchronous fashion with the interpolation of translation.
EXPRESS specification:
*)
ENTITY Circular_path
SUBTYPE OF (Path_node);
via_point : Cartesian_point;
END_ENTITY;
(*
Attribute definitions:
via_point:
an intermediate point through which the Circular_path passes.
A Curve_based_path is a type of
Path_node.
A Curve_based_path describes a portion of a complete
Kinematic_path
such that the interpolation rule follows a curve for the translational part of the motion of the origin of the frame of the
Kinematic_link.
The interpolation for the orientation is performed in synchronous fashion with the interpolation of translation.
EXPRESS specification:
*)
ENTITY Curve_based_path
SUBTYPE OF (Path_node);
path_curve : Curve;
END_ENTITY;
(*
Attribute definitions:
path_curve:
the curve which defines the translational interpolation between the
Path_nodes
that are connected by the Curve_based_path.
A Curve_based_path_with_orientation is a type of
Kinematic_path_segment
that controls both, the position and orientation of a link along curves.
The origin of the link frame shall move along the position_curve.
The orientation_curve in respect to the position_curve for the same parametrisation value specifies the z-direction of the link frame.
The direction of the position_curve specifies the x-direction of the link frame.
Both curves shall have the same parametrization and shall not touch or intersect each other.
EXPRESS specification:
*)
ENTITY Curve_based_path_with_orientation
SUBTYPE OF (Kinematic_path_segment);
position_curve : Bounded_curve;
orientation_curve : Bounded_curve;
WHERE
WR1: TYPEOF(position_curve) = TYPEOF(orientation_curve);
END_ENTITY;
(*
Attribute definitions:
position_curve:
specifies the curve along which the origin of the link frame is moved.
orientation_curve:
specifies the rotation of the link frame relative to the position_curve for the same parametrisation value.
Formal propositions:
WR1:
The
Bounded_curve
referenced by position_curve shall match the
Bounded_curve
referenced by orientation_curve.
A Curve_based_path_with_orientation_and_parameters is a type of
Curve_based_path_with_orientation.
EXPRESS specification:
*)
ENTITY Curve_based_path_with_orientation_and_parameters
SUBTYPE OF (Curve_based_path_with_orientation);
parameters : Path_parameter_representation;
END_ENTITY;
(*
Attribute definitions:
parameters:
specifies the
Path_parameter_representation
for the Curve_based_path_with_orientation_and_parameters.
A Geometric_representation_context_with_parameter is a type of
Geometric_coordinate_space
with an additional parameter.
EXPRESS specification:
*)
ENTITY Geometric_representation_context_with_parameter
SUBTYPE OF (Geometric_coordinate_space);
parameter_unit :
OPTIONAL
Unit;
END_ENTITY;
(*
Attribute definitions:
parameter_unit:
specifies an additional parameter for the Geometric_representation_context_with_parameter.
The value of this attribute need not be specified.
An Interpolated_configuration_representation is a type of
Representation
that specifies a motion (forward analysis) of a
Kinematic_topology_structure.
EXPRESS specification:
*)
ENTITY Interpolated_configuration_representation
SUBTYPE OF (Representation);
SELF\Representation.context_of_items : Geometric_representation_context_with_parameter;
SELF\Representation.items : SET[1:?] OF Interpolated_configuration_sequence;
END_ENTITY;
(*
Attribute definitions:
context_of_items:
an inherited attribute that shall be of type
Geometric_representation_context_with_parameter.
items:
an inherited attribute whose members shall be of type
Interpolated_configuration_sequence.
An Interpolated_configuration_segment is a specification of a single segment of an
Interpolated_configuration_sequence.
An Interpolated_configuration_segment is defined by a
Mechanism_state_representation
at a particular parameter value and the interpolation instruction to the next or first segment in the list.
EXPRESS specification:
*)
ENTITY Interpolated_configuration_segment;
state : Mechanism_state_representation;
t_parameter : parameter_value;
interpolation : interpolation_type;
END_ENTITY;
(*
Attribute definitions:
state:
the
Mechanism_state_representation
the Interpolated_configuration_segment refers to.
t_parameter:
the parameter associated to the Interpolated_configuration_segment.
interpolation:
the
interpolation_type
for the Interpolated_configuration_segment.
An Interpolated_configuration_sequence is a type of
Detailed_geometric_model_element
that represents a sequence of
Interpolated_configuration_segments,
each consisting of a
Mechanism_state_representation
at a particular parameter value and an interpolation type to the next segment in the sequence, or, in the case of the last
segment in the sequence, to the first
Interpolated_configuration_segment.
EXPRESS specification:
*)
ENTITY Interpolated_configuration_sequence
SUBTYPE OF (Detailed_geometric_model_element);
segments : LIST[2:?] OF Interpolated_configuration_segment;
DERIVE
n_segments : INTEGER := SIZEOF(segments);
closed_interpolation : LOGICAL := segments[n_segments].interpolation <> discontinuous_interpolation_type;
configured_mechanism : Mechanism_representation := segments[1].state.represented_mechanism;
WHERE
WR1: SIZEOF( QUERY(ics <* segments | ics.state.represented_mechanism :<>: configured_mechanism)) = 0;
END_ENTITY;
(*
Attribute definitions:
segments:
the list of
Interpolated_configuration_segments
for the Interpolated_configuration_sequence.
There shall exist at least two Interpolated_configuration_segments
for the Interpolated_configuration_sequence.
n_segments:
the number of segments.
closed_interpolation:
an indication of whether the interpolation shall continue with the first segment after the last one is reached,
resulting in a cyclic movement.
configured_mechanism:
the
Mechanism_representation
that is interpolated by this Interpolated_configuration_sequence.
Formal propositions:
WR1:
All segments of an Interpolated_configuration_sequence shall be based on the same
Mechanism_representation.
An Item_link_motion_relationship is a type of
Link_motion_relationship.
EXPRESS specification:
*)
ENTITY Item_link_motion_relationship
SUBTYPE OF (Link_motion_relationship);
SELF\Representation_relationship.rep_1 : Geometric_model;
item : Detailed_geometric_model_element;
END_ENTITY;
(*
Attribute definitions:
rep_1:
an inherited attribute shall be of type
Geometric_model
for the Item_link_motion_relationship.
item:
specifies the role of the
Detailed_geometric_model_element
for the Item_link_motion_relationship.
A Kinematic_path is a type of
Detailed_geometric_model_element.
A Kinematic_path describes a path or a segment of a path along which motion is to take place.
Each Kinematic_path is either a
Kinematic_path_defined_by_nodes
or a
Kinematic_path_defined_by_curves.
EXPRESS specification:
*)
ENTITY Kinematic_path
ABSTRACT SUPERTYPE
OF (ONEOF (Kinematic_path_defined_by_nodes,
Kinematic_path_defined_by_curves))
SUBTYPE OF (Detailed_geometric_model_element);
segments : LIST[1:?] OF Kinematic_path_segment;
t_start : parameter_value;
DERIVE
n_segments : INTEGER := SIZEOF(segments);
closed_path : LOGICAL := segments[n_segments].transition <> curve_transition_code.discontinuous;
WHERE
WR1: SIZEOF(QUERY(using_rep <* using_representations(SELF)|
NOT('KINEMATIC_MOTION_REPRESENTATION_ARM.GEOMETRIC_REPRESENTATION_CONTEXT_WITH_PARAMETER' IN TYPEOF(using_rep.context_of_items))))=
0;
WR2: ('KINEMATIC_MOTION_REPRESENTATION_ARM.CURVE_BASED_PATH_WITH_ORIENTATION' IN TYPEOF(segments[1]))
OR (n_segments > 1);
END_ENTITY;
(*
Attribute definitions:
segments:
the list of
Kinematic_path_segments
for the Kinematic_path.
There shall exist at least one
Kinematic_path_segment
for the Kinematic_path.
t_start:
the parameter value at the start of the Kinematic_path.
n_segments:
a number of segments for the Kinematic_path.
closed_path:
if the
curve_transition_code
of the last segment is not
discontinuous,
then this defines a cyclic movement.
Formal propositions:
WR1:
A Kinematic_path shall only be used with a
Geometric_representation_context_with_parameter.
WR2:
The first
segment
shall be of type
Curve_based_path_with_orientation,
or there shall be more than one
segment.
A Kinematic_path_defined_by_curves is a type of
Kinematic_path whose segments are defined by
Curve_based_path_with_orientation.
EXPRESS specification:
*)
ENTITY Kinematic_path_defined_by_curves
SUBTYPE OF (Kinematic_path);
SELF\Kinematic_path.segments : LIST[1:?] OF Curve_based_path_with_orientation;
END_ENTITY;
(*
Attribute definitions:
segments:
an inherited attribute shall be of type
Curve_based_path_with_orientation
for the Kinematic_path_defined_by_curves.
There shall exist at least one
Curve_based_path_with_orientation
for the Kinematic_path_defined_by_curves.
A Kinematic_path_defined_by_nodes is a type of
Kinematic_path whose segments are defined by Path_nodes.
EXPRESS specification:
*)
ENTITY Kinematic_path_defined_by_nodes
SUBTYPE OF (Kinematic_path);
SELF\Kinematic_path.segments : LIST[1:?] OF Path_node;
placement_start : Axis_placement;
END_ENTITY;
(*
Attribute definitions:
segments:
an inherited attribute shall be of type
Path_node
for the Kinematic_path_defined_by_nodes.
There shall exist at least one
Path_node
for the Kinematic_path_defined_by_nodes.
placement_start:
specifies the role of the
Axis_placement
for the Kinematic_path_defined_by_nodes.
A Kinematic_path_segment
is either a
Path_node
or a
Curve_based_path_with_orientation, which defines one of potentially several segments of a Kinematic_path.
EXPRESS specification:
*)
ENTITY Kinematic_path_segment
ABSTRACT SUPERTYPE
OF (ONEOF (Path_node,
Curve_based_path_with_orientation));
t_end : parameter_value;
transition : curve_transition_code;
END_ENTITY;
(*
Attribute definitions:
t_end:
the parameter value at the end of the Kinematic_path_segment.
transition:
the
curve_transition_code
that defines how to continue with the next following segment (if any).
A Linear_path is a type of
Path_node.
A Linear_path is an arcwise connected bounded linear path element defined by the two
transforms
of the
Path_nodes
at the beginning and the end of the path element.
The
transforms
between the values of the motion parameters given in these
Path_nodes
are obtained by linear interpolation between the
transforms
specified in the node from and node to of the Linear_path.
EXPRESS specification:
*)
ENTITY Linear_path
SUBTYPE OF (Path_node);
DERIVE
SELF\Kinematic_path_segment.transition : curve_transition_code := curve_transition_code.continuous;
END_ENTITY;
(*
Attribute definitions:
transition:
an inherited attribute that shall be of type
curve_transition_code which value is
continuous.
A Link_motion_relationship is a type of
Definitional_representation_relationship
and a type of
Geometric_model_relationship_with_transformation.
A Link_motion_relationship describes the relation of a
Link_motion_representation_along_path
with a frame on a
Link_motion_transformation.
EXPRESS specification:
*)
ENTITY Link_motion_relationship
SUBTYPE OF (Definitional_representation_relationship, Geometric_model_relationship_with_transformation);
SELF\Geometric_model_relationship.rep_1 : link_or_shape_representation;
SELF\Geometric_model_relationship.rep_2 : Link_motion_representation_along_path;
transformation_operator : Link_motion_transformation;
WHERE
WR1: transformation_operator.transform_item_1 IN rep_1.items;
WR2: transformation_operator.transform_item_2 IN rep_2.items;
END_ENTITY;
(*
Attribute definitions:
rep_1:
a
link_or_shape_representation
which specifies a motion.
rep_2:
a
Link_motion_representation_along_path
that is to be moved.
transformation_operator:
the
Link_motion_transformation
that relates the
context_of_items
of the related
link_or_shape_representation
and
Link_motion_representation_along_path.
Formal propositions:
WR1:
The first item of the
transformation_operator
shall be a member of the items of
rep_1.
WR2:
The second item of the
transformation_operator
shall be a member of the items of
rep_2.
A Link_motion_representation_along_path is a type of
Representation.
EXPRESS specification:
*)
ENTITY Link_motion_representation_along_path
SUBTYPE OF (Representation);
SELF\Representation.items : SET[1:?] OF Kinematic_path;
SELF\Representation.context_of_items : Geometric_representation_context_with_parameter;
END_ENTITY;
(*
Attribute definitions:
items:
an inherited attribute that shall be of type
Kinematic_path.
There shall exist at least one
Kinematic_path
for the Link_motion_representation_along_path.
context_of_items:
a
Geometric_representation_context_with_parameter
in which the items are related to form a representation of some concept.
A Link_motion_transformation is a specification of the transformation that transforms a
rigid_placement
of a
Kinematic_link_representation
along a
Kinematic_path.
EXPRESS specification:
*)
ENTITY Link_motion_transformation;
transform_item_1 : rigid_placement;
transform_item_2 : Kinematic_path;
END_ENTITY;
(*
Attribute definitions:
transform_item_1:
specifies the
rigid_placement
for the Link_motion_transformation.
transform_item_2:
specifies the
Kinematic_path
for the Link_motion_transformation.
A Path_node is a type of
Kinematic_path_segment
that is a constituent of a path definition.
It consists of a linear transformation and its associated motion parameter.
Each Path_node is either a
Point_to_point_path,
a Circular_path,
a Linear_path,
or a
Curve_based_path.
EXPRESS specification:
*)
ENTITY Path_node
ABSTRACT SUPERTYPE
OF (ONEOF (Point_to_point_path,
Circular_path,
Linear_path,
Curve_based_path))
SUBTYPE OF (Kinematic_path_segment);
placement_end : Axis_placement;
END_ENTITY;
(*
Attribute definitions:
placement_end:
a linear transformation that specifies a local frame on a path.
A Path_parameter_representation is a type of
Definitional_representation.
EXPRESS specification:
*)
ENTITY Path_parameter_representation
SUBTYPE OF (Definitional_representation);
SELF\Representation.context_of_items : Path_parameter_representation_context;
SELF\Representation.items : SET[1:?] OF Bounded_curve;
WHERE
WR1: SELF\Representation.context_of_items\Geometric_coordinate_space.dimension_count = 2;
END_ENTITY;
(*
Attribute definitions:
context_of_items:
the
Path_parameter_representation_context
that is a context of the Path_parameter_representation.
items:
an inherited attribute that shall be of type
Bounded_curve.
There shall exist at least one
Bounded_curve
for the Path_parameter_representation.
Formal propositions:
WR1:
A Path_parameter_representation shall only be used in a two dimensional context.
A Path_parameter_representation_context is a type of
Geometric_coordinate_space
and a type of
Parametric_representation_context.
EXPRESS specification:
*)
ENTITY Path_parameter_representation_context
SUBTYPE OF (Geometric_coordinate_space, Parametric_representation_context);
END_ENTITY;
(*
A Point_to_point_path is a type of
Path_node.
A Point_to_point_path defines the frames which are to be traversed.
It does not have a prescribed interpolation.
NOTE
The interpolation is left to the software that uses the data.
EXPRESS specification:
*)
ENTITY Point_to_point_path
SUBTYPE OF (Path_node);
DERIVE
SELF\Kinematic_path_segment.transition : curve_transition_code := curve_transition_code.discontinuous;
END_ENTITY;
(*
Attribute definitions:
transition:
an inherited attribute that shall be of type
curve_transition_code which value is
discontinuous.
A Product_structure_link_motion_association is a type of
Contextual_shape_representation
that links a
Link_motion_relationship
to a corresponding Product_occurrence
or
Specified_occurrence
of an assembly structure.
EXPRESS specification:
*)
ENTITY Product_structure_link_motion_association
SUBTYPE OF (Contextual_shape_representation);
SELF\Contextual_shape_representation.product_context : Assembly_component_relationship;
SELF\Contextual_shape_representation.shape_representing_relationship : Link_motion_relationship;
subStructure :
OPTIONAL
Specified_occurrence;
END_ENTITY;
(*
Attribute definitions:
product_context:
an inherited attribute that shall be of type
Assembly_component_relationship
and whose
related_view
indicates the
Product_occurrence
that is either completely or in part of represented by the
Link_motion_relationship.
shape_representing_relationship:
an inherited attribute that shall be of type
Link_motion_relationship.
subStructure:
specifies an optional
Specified_occurrence.
The value of this attribute need not be specified.
This subclause specifies the ARM
subtype constraints for
this module. Each subtype constraint places constraints on the
possible super-type / subtype instantiations.
The ARM subtype constraints and definitions are
specified below.
The
kmr_geometric_representation_context_subtypes
constraint specifies a constraint that applies to instances of
Geometric_coordinate_space
and enforces the rule that its subtypes
Geometric_representation_context_with_parameter and Path_parameter_representation_context
are exclusive.
EXPRESS specification:
*)
SUBTYPE_CONSTRAINT kmr_geometric_representation_context_subtypes FOR Geometric_coordinate_space;
ONEOF (Geometric_representation_context_with_parameter,
Path_parameter_representation_context);
END_SUBTYPE_CONSTRAINT;
(*
The
kmr_geometric_representation_item_subtypes
constraint specifies a constraint that applies to instances of
Detailed_geometric_model_element
and enforces the rule that its subtypes
Kinematic_path and Axis_placement
are exclusive.
EXPRESS specification:
*)
SUBTYPE_CONSTRAINT kmr_geometric_representation_item_subtypes FOR Detailed_geometric_model_element;
ONEOF (Kinematic_path,
Axis_placement);
END_SUBTYPE_CONSTRAINT;
(*
The
kmr_representation_subtypes
constraint specifies a constraint that applies to instances of
Representation
and enforces the rule that its subtypes
Interpolated_configuration_representation and Link_motion_representation_along_path
are exclusive.
EXPRESS specification:
*)
SUBTYPE_CONSTRAINT kmr_representation_subtypes FOR Representation;
ONEOF (Interpolated_configuration_representation,
Link_motion_representation_along_path);
END_SUBTYPE_CONSTRAINT;
(*
*)
END_SCHEMA; -- Kinematic_motion_representation_arm
(*
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