Delta links calculations

How the kinematics of Delta is solved

You can find equations for linear delta here: [github.com]


But you are probably building rotational delta (based on your previous post). Google it or write down the equations describing positions of the platform based on each each stepper motor position and solve the equations.

I'm do not know whether there is any open firmware supporting rotational delta. There is one other guy building rotational delta for pick and place machine. You may want to search history in this forum to find his threads. IIRC, he did not get any concrete links to firmware supporting rotational delta.

RepRapFirmware has experimental support for rotary delta kinematics in version 2.02 which is currently at release candidate 2.

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Large delta printer [miscsolutions.wordpress.com], E3D tool changer, Robotdigg SCARA printer, Crane Quad and Ormerod

Disclosure: I design Duet electronics and work on RepRapFirmware, [duet3d.com].

Did you add it?
AFAIR, you did not respond to the other guy's question of when rotary delta support will be added to reprap firmware.

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But you are probably building rotational delta (based on your previous post).

I suggested using nautilus gears to increase torque when needed.
I'd be interested, if these would also make the kinematics linear like I said?

I did not do the math for rotational delta so this is only an educated guess.

It depends what you mean by linear.
If you mean from the point of view of torque needed to lift one arm then possibly yes (the non-linear gear may need a different transfer function).
If you mean from one delta coordinate to one cartesian coordinate then not because one cartesian coordinate depends non-linearly on more than one delta coordinate. That means one non-linear gear would need to be different depending on the position of other non-linear gears.

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hercek
You can find equations for linear delta here: [github.com]


But you are probably building rotational delta (based on your previous post). Google it or write down the equations describing positions of the platform based on each each stepper motor position and solve the equations.

I'm do not know whether there is any open firmware supporting rotational delta. There is one other guy building rotational delta for pick and place machine. You may want to search history in this forum to find his threads. IIRC, he did not get any concrete links to firmware supporting rotational delta.

thanks for your suggestion i am doing a rotational delta.

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hercek
Did you add it?
AFAIR, you did not respond to the other guy's question of when rotary delta support will be added to reprap firmware.

because i doesn't know the answer

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o_lampe

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But you are probably building rotational delta (based on your previous post).

I suggested using nautilus gears to increase torque when needed.
I'd be interested, if these would also make the kinematics linear like I said?

i am doing rotational pick and place delta. i assembled basic setup but i doesn t know how to run three stepper motors in three different directions

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hercek
Did you add it?
AFAIR, you did not respond to the other guy's question of when rotary delta support will be added to reprap firmware.

Yes I did add it, and he is the first user running the new firmware. I didn't respond to his post here because he got in touch via PM.

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Large delta printer [miscsolutions.wordpress.com], E3D tool changer, Robotdigg SCARA printer, Crane Quad and Ormerod

Disclosure: I design Duet electronics and work on RepRapFirmware, [duet3d.com].

Cool!