This is a prototype of a 6-axis 3D printer with a mechanism similar to the DELTA printer. It can control position and orientation and can handle non-planar slices. The mechanism is simple and features interesting movements.

https://www.youtube.com/watch?v=ehmTeRKcCM4&t=2s

... yes, interesting enough -- the mechanics of this "parallel kinematics" are pretty simple, but the software to calculate and control IK (inverse kinematics) not so easy

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Viktor
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Aufruf zum Projekt "Müll-freie Meere" - [reprap.org] -- Deutsche Facebook-Gruppe - [www.facebook.com]

Call for the project "garbage-free seas" - [reprap.org]

Yes, I too struggled to solve inverse kinematics. I was not sure if I was right, so I made a prototype. I was happy when I solved it and it worked properly.

Wow! Its so interesting

You might borrow from GPS reverse solver libraries. They find the intersection of sphere, relevant to HEXA printer.
Douglas

Increased the tilt angle from 15 degrees to 45 degrees. I have provided some videos.
[youtu.be]
[youtu.be]

... good idea, but lack of quality - here you have some more steps to go ... but either way, thumbs up!

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Viktor
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Aufruf zum Projekt "Müll-freie Meere" - [reprap.org] -- Deutsche Facebook-Gruppe - [www.facebook.com]

Call for the project "garbage-free seas" - [reprap.org]