ISO/TS 10303-1796:2019 Kinematic motion representation


Application module: Kinematic motion representation	ISO/TS 10303-1796:2019(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 Information requirements
4.1 Required AM ARMs
4.2 ARM type definitions
4.3 ARM entity definitions
4.4 ARM subtype constraint definitions
5 Module interpreted model
5.1 Mapping specification
5.2 MIM EXPRESS short listing

A MIM short names
B Information object registration
C ARM EXPRESS-G
D MIM EXPRESS-G
E Computer interpretable listings
F Change history
Bibliography
Index


         (*
ISO/TC 184/SC 4/WG 12 N10318 - ISO/TS 10303-1796 Kinematic motion representation - EXPRESS ARM
Supersedes 
         ISO/TC 184/SC 4/WG 12 N9362
*)



SCHEMA Kinematic_motion_representation_arm;


         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);


TYPE interpolation_type =
         
         ENUMERATION
         
         OF
         

            
         (undefined_interpolation_type,
    discontinuous_interpolation_type,
    synchronous_interpolation_type,
    linear_interpolation_type);

         END_TYPE;


TYPE kmr_geometric_representation_select =
         
         EXTENSIBLE
         
         GENERIC_ENTITY
         
         
         SELECT
         BASED_ON
         geometric_representation_select
         WITH 
         

            (Link_motion_representation_along_path);

         END_TYPE;


TYPE kmr_initial_application_domain_enumeration =
         
         ENUMERATION
         
         BASED_ON 
         initial_application_domain_enumeration
         WITH 
         

            
         (motion);

         END_TYPE;


TYPE link_or_shape_representation =
         
         
         SELECT

            (Kinematic_link_representation, 
    Geometric_model);

         END_TYPE;


ENTITY Circular_path

           SUBTYPE OF (Path_node);

           via_point : Cartesian_point;

         
         END_ENTITY;


ENTITY Curve_based_path

           SUBTYPE OF (Path_node);

           path_curve : Curve;

         
         END_ENTITY;


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;


ENTITY Curve_based_path_with_orientation_and_parameters

           SUBTYPE OF (Curve_based_path_with_orientation);

           parameters : Path_parameter_representation;

         
         END_ENTITY;


ENTITY Geometric_representation_context_with_parameter

           SUBTYPE OF (Geometric_coordinate_space);

           parameter_unit : 
         OPTIONAL 
         Unit;

         
         END_ENTITY;


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;


ENTITY Interpolated_configuration_segment;

           state : Mechanism_state_representation;

           t_parameter : parameter_value;

           interpolation : interpolation_type;

         
         END_ENTITY;


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;


ENTITY Item_link_motion_relationship

           SUBTYPE OF (Link_motion_relationship);

           SELF\Representation_relationship.rep_1 : Geometric_model;

           item : Detailed_geometric_model_element;

         
         END_ENTITY;


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;


ENTITY Kinematic_path_defined_by_curves

           SUBTYPE OF (Kinematic_path);

           SELF\Kinematic_path.segments : LIST[1:?] OF Curve_based_path_with_orientation;

         
         END_ENTITY;


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;


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;


ENTITY Linear_path

           SUBTYPE OF (Path_node);
DERIVE

           SELF\Kinematic_path_segment.transition : curve_transition_code := curve_transition_code.continuous;

         
         END_ENTITY;


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;


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;


ENTITY Link_motion_transformation;

           transform_item_1 : rigid_placement;

           transform_item_2 : Kinematic_path;

         
         END_ENTITY;


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;


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;


ENTITY Path_parameter_representation_context

           SUBTYPE OF (Geometric_coordinate_space, Parametric_representation_context);

         
         END_ENTITY;


ENTITY Point_to_point_path

           SUBTYPE OF (Path_node);
DERIVE

           SELF\Kinematic_path_segment.transition : curve_transition_code := curve_transition_code.discontinuous;

         
         END_ENTITY;


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;


SUBTYPE_CONSTRAINT kmr_geometric_representation_context_subtypes FOR Geometric_coordinate_space;

           ONEOF (Geometric_representation_context_with_parameter,
         Path_parameter_representation_context);
      
         END_SUBTYPE_CONSTRAINT;


SUBTYPE_CONSTRAINT kmr_geometric_representation_item_subtypes FOR Detailed_geometric_model_element;

           ONEOF (Kinematic_path,
         Axis_placement);
      
         END_SUBTYPE_CONSTRAINT;


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