Rostock delta robot now moving at 400mm/s I'm working on a new delta robot 3D printer prototype called Rostock. It's still a very early prototype but it's now moving pretty reliably up to 400 mm/s. [img]http://farm8.staticflickr.com/7267/6865987520_a4792bee21_b.jpg[/img] [img]http://farm8.staticflickr.com/7123/6865984708_e6042dfd75_c.jpg[/img] [img]http://farm8.staticflickr.com/7053/6865975984_02711b6ea5_c.jpg[/img] [img]http://farm7.staticflickr.com/6057/6865986894_60fa2b16e5_c.jpg[/img] Build volume: 8x8x8 inches (20x20x20 cm) Extendable: 8x8x15 inches (20x20x38 cm) by using longer timing belts only Footprint: 12x12 inches Speed: currently up to 400 mm/s in all three directions Positioning accuracy: 40 steps/mm for Z, around 30 steps/mm for X and Y Electronics: RAMPS 1.4 Firmware: unmodified Marlin (planning to fork and implement realtime Delta geometry) Endstops: 3x top, 3x bottom ZM micro switches (adjustable with M3 screws) Steppers: 3x NEMA17 Timing belt: GT2 TruMotion belt, 2mm pitch Smooth rod: 6x 8x762mm drill rod Linear bearings: 6x LM8UU Ball bearings: 6x 608 (skateboard bearings) Plastic parts: printed with PLA on Prusa Mendel Today's demo video, taken at [url=http://metrixcreatespace.com]metrixcreatespace.com[/url] in Seattle: [url=http://flickr.com/photos/metrixcreate/7028636503]flickr.com/photos/metrixcreate/7028636503[/url] More pictures (slightly older so they still have printed PLA parts instead of LM8UU): [url=http://flickr.com/photos/jcrocholl/tags/rostock]flickr.com/photos/jcrocholl/tags/rostock[/url] OpenSCAD source files, some documentation, comments, more pictures: [url=https://github.com/jcrocholl/rostock]github.com/jcrocholl/rostock[/url] [url=http://thingiverse.com/tag:rostock]thingiverse.com/tag:rostock[/url] https://reprap.org/forum/read.php?178,126584,126584#msg-126584 Sun, 19 Jul 2026 11:01:34 -0400 Phorum 5.2.23 https://reprap.org/forum/read.php?178,126584,306306#msg-306306 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,306306#msg-306306
Quote
mohamd fathy
please from where can i pay this parts ???
please answer
Start a new thread with your question.
Try ebay, and the user group of your country: [forums.reprap.org] Post a new thread in there of what you're after.]]> TheTechnicalNoob Delta Machines Tue, 04 Feb 2014 19:05:56 -0500 https://reprap.org/forum/read.php?178,126584,305180#msg-305180 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,305180#msg-305180 please answer]]> mohamd fathy Delta Machines Mon, 03 Feb 2014 02:54:14 -0500 https://reprap.org/forum/read.php?178,126584,179758#msg-179758 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,179758#msg-179758 -------------------------------------------------------
> Parallel Robot.
>
> Correction: Linear Delta.
>
> Several "linear delta" arrangements have been
> developed where the motors drive linear actuators
> rather than rotating an arm. Such linear delta
> arrangements can have much larger working volumes
> than rotational delta arrangements

Especially if the linear rails were horizontal. The Rostock would be a vertical linear delta, but maybe it is easier just to call it "a Rostock"?

There is a bunch of designs from Clevel described here [jnrr2011.irccyn.ec-nantes.fr]]]> bobc Delta Machines Sun, 27 Jan 2013 17:02:22 -0500 https://reprap.org/forum/read.php?178,126584,177450#msg-177450 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,177450#msg-177450 VDX Delta Machines Fri, 18 Jan 2013 02:23:02 -0500 https://reprap.org/forum/read.php?178,126584,177446#msg-177446 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,177446#msg-177446
Correction: Linear Delta.

Quote

Several "linear delta" arrangements have been developed where the motors drive linear actuators rather than rotating an arm. Such linear delta arrangements can have much larger working volumes than rotational delta arrangements
]]> xclusive585 Delta Machines Fri, 18 Jan 2013 01:30:29 -0500 https://reprap.org/forum/read.php?178,126584,177231#msg-177231 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,177231#msg-177231 Annirak Delta Machines Thu, 17 Jan 2013 05:54:54 -0500 https://reprap.org/forum/read.php?178,126584,177151#msg-177151 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,177151#msg-177151 johnoly99 Delta Machines Wed, 16 Jan 2013 19:01:36 -0500 https://reprap.org/forum/read.php?178,126584,176502#msg-176502 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,176502#msg-176502 Javier Ros Delta Machines Sun, 13 Jan 2013 06:09:07 -0500 https://reprap.org/forum/read.php?178,126584,155474#msg-155474 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,155474#msg-155474 fma Delta Machines Thu, 20 Sep 2012 00:49:06 -0400 https://reprap.org/forum/read.php?178,126584,155465#msg-155465 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,155465#msg-155465
Is there some other, more technically accurate name for this kind of design/kinematic arrangment?]]> DavidCary Delta Machines Wed, 19 Sep 2012 22:46:28 -0400 https://reprap.org/forum/read.php?178,126584,153033#msg-153033 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,153033#msg-153033 Absolutely, four arms is possible. The math is, in fact, the same. The only problem is that with an additional degree of freedom, the movements of the arms must be more coordinated to prevent binding, which makes calibration far more important, though you do end up with a more stable and more accurate platform.

@Darhuuk:
There are several tradeoffs involved. You want to have the shortest arms possible to reduce flex. You want the shortest pillars for the same reason. You also want to eliminate any possibility of binding where endstops can't detect. I think you're right: the rounded triangle is actually better. But one where each vertex is precisely at the base of a pillar.]]> Annirak Delta Machines Fri, 07 Sep 2012 17:05:33 -0400 https://reprap.org/forum/read.php?178,126584,150975#msg-150975 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,150975#msg-150975
I'd really like to find out the reason for this, as I'm making my own Rostock and am trying to figure out the best dimensions for the frame.]]> Darhuuk Delta Machines Tue, 28 Aug 2012 10:56:22 -0400 https://reprap.org/forum/read.php?178,126584,150490#msg-150490 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,150490#msg-150490 nhand42 Delta Machines Sun, 26 Aug 2012 05:07:56 -0400 https://reprap.org/forum/read.php?178,126584,150483#msg-150483 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,150483#msg-150483 mofosyne Delta Machines Sun, 26 Aug 2012 01:26:11 -0400 https://reprap.org/forum/read.php?178,126584,149604#msg-149604 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,149604#msg-149604


You can see that as the reach of the arms increases, the build area becomes a triangle. As the reach of the arms decreases, the build area becomes a rounded triangle. There is an optimal range in the middle, where the build area is a rough hexagon (pictured above)

I am assuming, in that diagram, that the arms can reach a full 180deg arc, but that may not be the case; it could be significantly less, in which case, the shape will become somewhat more complex.

Here's the math for converting x,y,z to ha,hb,hc, the three pillar heights, using arbitrary placement of the pillars:

A quick definition, the length of some vector, V, is the square root of the vector dotted with itself:
|V| = sqrt( V.V )
|V| = sqrt( Vx^2 + Vy^2 + Vz^2 )


In the x-y plane:
First define three vectors from the origin to each support/drive pillar: A,B,C
Define a vector from the origin to the desired location of the print head: W
Define the length of an arm: r
Define the height of each carriage on its pillar: ha, hb, hc

Then the horizontal distance from each pillar to the print head is:
a = |W-A|
b = |W-B|
c = |W-C|
(note that the subtractions here are vector subtractions


In 3D space:
Then, knowing the length of the arm, each height is defined as:

ha = z + sqrt(r^2 – a^2)
hb = z + sqrt(r^2 – b^2)
hc = z + sqrt(r^2 – c^2)

Substituting to get rid of one square and one square root operation,
ha = z + sqrt( r^2 – ( W-A )^2 )
hb = z + sqrt( r^2 – ( W-B )^2 )
hc = z + sqrt( r^2 – ( W-C )^2 )
Note that ( W-A )^2 = ( Wx-Ax )^2 + ( Wy-Ay )^2 + ( Wz-Az )^2 since this is a vector subtraction and a vector square.
]]> Annirak Delta Machines Tue, 21 Aug 2012 16:01:35 -0400 https://reprap.org/forum/read.php?178,126584,148809#msg-148809 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,148809#msg-148809
so to have this machine work, the 3 double shafts "spots" are equi distance form each other, and the shafts are theoretically double the distance of the perpendicular bisector it forms? am i right?

so in my imagination, the build area has to be enclosed by the triangle? or ... how do you position the square in that triangle? i cant figure this part out ... LOL ... or it depends on the length of the double support struts holding the hot-end? (or theres a sin/cos thingy going on there?)

:D]]> redreprap Delta Machines Fri, 17 Aug 2012 17:26:51 -0400 https://reprap.org/forum/read.php?178,126584,144796#msg-144796 Re: Rostock robot and features https://reprap.org/forum/read.php?178,126584,144796#msg-144796 -------------------------------------------------------
> Are there any types of lcd or interfaces to
> control without a computer?

Plenty. See:
[www.thingiverse.com]
[www.thingiverse.com]
[www.thingiverse.com]
etc.

Most RepRap firmwares and electronics support SD card readers, LCD displays, and click encoders.

As for dual extruders, it is still quite experimental at this point. I have the parts to set up a dual extruder on my MendelMax but haven't gotten around to it yet.]]> NewPerfection Delta Machines Thu, 26 Jul 2012 05:37:22 -0400 https://reprap.org/forum/read.php?178,126584,144121#msg-144121 Rostock robot and features https://reprap.org/forum/read.php?178,126584,144121#msg-144121
Are there any types of lcd or interfaces to control without a computer?

What's the progress on dual extruders?]]> Jamesarmstrong97 Delta Machines Mon, 23 Jul 2012 00:11:24 -0400 https://reprap.org/forum/read.php?178,126584,138590#msg-138590 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,138590#msg-138590
[forums.reprap.org]]]> fma Delta Machines Tue, 19 Jun 2012 04:15:10 -0400 https://reprap.org/forum/read.php?178,126584,134374#msg-134374 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,134374#msg-134374
The resolution you claim is quite high. Have you meansured the REAL resolution? How do you do your coordinate transformations? In real-time or by liear approximation?

Cheers,
Reinoud

(sorry, have been away for quite some time)]]> reinoud Delta Machines Thu, 24 May 2012 10:08:49 -0400 https://reprap.org/forum/read.php?178,126584,133108#msg-133108 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,133108#msg-133108 akhlut Delta Machines Wed, 16 May 2012 16:01:52 -0400 https://reprap.org/forum/read.php?178,126584,131692#msg-131692 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,131692#msg-131692 i like the clearance of the design and I'm looking forward to build my own :)

Especially it is easy to change the motor size.]]> 4ndreas Delta Machines Mon, 07 May 2012 04:31:23 -0400 https://reprap.org/forum/read.php?178,126584,128967#msg-128967 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,128967#msg-128967
Quote

On one side of one carriage I'm testing LM8LUU (45 mm long)

The extra length is pointless if you mount that bearing on just the same small surface as the shorter one, of course. To get an advantage of the long bearing, you have to lengthen the carriage, too.

Other than that: nice work!]]> Traumflug Delta Machines Mon, 16 Apr 2012 08:41:56 -0400 https://reprap.org/forum/read.php?178,126584,128844#msg-128844 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,128844#msg-128844
Currently I'm using LM8UU linear bearings (24 mm long) and they are working really well. On one side of one carriage I'm testing LM8LUU (45 mm long) but the extra length doesn't seem to be necessary.


]]> Johann Delta Machines Sun, 15 Apr 2012 11:41:57 -0400 https://reprap.org/forum/read.php?178,126584,128841#msg-128841 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,128841#msg-128841 vxb.com, and the GT2 timing belt and pulleys from sdp-si.com. The motors are Kysan 1124090 Nema 17 from ultimachine.com.

Kalle3D: RAMPS 1.4 supports 16x micro steps. My motors have 200 full steps per rotation = 3200 micro steps per rotation. The pulleys have 40 grooves with 2 mm pitch = 80 mm per rotation. 3200 steps / 80 mm = 40 steps / mm.]]> Johann Delta Machines Sun, 15 Apr 2012 11:17:16 -0400 https://reprap.org/forum/read.php?178,126584,128784#msg-128784 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,128784#msg-128784 How do you calculate the carriage resolution with 40 steps/mm?

I think that most NEMA 17 stepper motors that were used here, make 200 real steps per round.
Your pulley seems to be a big one, with about 50 teeth, pitch 2mm.
This makes 200 steps per round, per 100 mm = 2 steps per mm.

Or do you calculate with half steps etc?
What motor type and pulley do you use exactly?

Anyway - a real simple and clean looking, good design!
The best design and speed i have seen yet.
Congratulatons!]]> Kalle3D Delta Machines Sat, 14 Apr 2012 23:56:39 -0400 https://reprap.org/forum/read.php?178,126584,128493#msg-128493 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,128493#msg-128493 I hope I have a booth next to you at the Seattle Mini Maker Fair, we'll have so much to talk about.]]> Dan Delta Machines Thu, 12 Apr 2012 14:38:38 -0400 https://reprap.org/forum/read.php?178,126584,128439#msg-128439 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,128439#msg-128439 > My grasp of the coordinate system here is weak, when you quote 30steps/mm in X/Y is that resolution
> constant across the whole range of movement, or does it vary like a polar/SCARA type bot?

The 30 steps/mm X/Y resolution is for the middle of the print bed. The X/Y resolution gets dramatically better near the edges of the print bed, because when the diagonal push rods are almost horizontal, the vertical carriage has to move down 10 mm for a 1 mm horizontal adjustment to the end effector (moving platform). So the vertical resolution of the three carriages is constant (currently 40 steps/mm), but the horizontal resolution of the end effector is somewhere between 30 and 300 steps per mm, depending on the elevation angles of the diagonal rods, which depend on the position of the end effector.]]> Johann Delta Machines Thu, 12 Apr 2012 05:47:22 -0400 https://reprap.org/forum/read.php?178,126584,128437#msg-128437 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,128437#msg-128437


Lateral stability is okay but not awesome. I think I'll probably end up adding at least one vertical plywood or two diagonal metal tubes, which could also be useful for the cables to the top endstops and extruders.

I'm currently implementing a better G28 homing routine in the firmware: first move up until we touch all three top endstops, then touch each of the three bottom endstops with the adjustable screws on the end effector (moving platform).



When I get that working, I'll generate some more interesting demo gcode and post another video. I agree the next speed test should have some weight on the end effector, for example a dial indicator, which would also be very useful to demonstrate the precision of horizontal moves.
]]> Johann Delta Machines Thu, 12 Apr 2012 05:31:26 -0400 https://reprap.org/forum/read.php?178,126584,128066#msg-128066 Re: Rostock delta robot now moving at 400mm/s https://reprap.org/forum/read.php?178,126584,128066#msg-128066
Can you test it weighed down?]]> Jasper den Ouden Delta Machines Mon, 09 Apr 2012 20:52:36 -0400