... sourcing parts for a parallel SCARA

Hi all,

... got some interesting parts from a friend, perfectly suited for building a parallel SCARA

This are Z+A axes from industrial dispensers, so two of them with synchronized moving in Z and rotating the "arm-shoulders" are the "core" of the parallel SCARA:




The steppers are Vexta 5-phase types, so will replace them wit 2-pase-steppers, for lack of 5-ph-drivers ...

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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]

you'll be balancing pens in no time [www.youtube.com]

... not my intention - but will allow a 4DOF parallel SCARA, if allowed for "skewing" the working plane between the two "shoulders"

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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]

Skewing is a nice idea to support milling cutters in CNC eg. If you build one and use Duet RRF version 3, I can help with software (I mean the necessary RRF3 firmware).

Edited 1 time(s). Last edit at 12/21/2019 04:58AM by JoergS5.

... hmmm ... could be a variant too -- have a Duet2 Ethernet lying around ... have to swap all 5-phase steppers for bipolar ones then ...

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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]

RRF 3 is possible for Duet 2 Ethernet. I have created a RRF 2 version already for parallel Scara which is tested by user bondus, but without your idea of screwing.

Please tell me when you are sure whether want to implement it. I don't want to waste time if you don't use it. But I will implement it if you want to use it.

The current documentation is in [duet3d.dozuki.com]
and the current RRF 2 firmware is in [github.com]

... actually simple plain movement would be OK - the "skewing" is only a theoretical option ... should be much easier with a separate tilt+pan unit on the table ...

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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]

Then you can use the RRF2 version and in January I'll migrate to RRF3 and make a push to the official RRF. I have a Duet 2 and 3 and will test with both.

The skewing has the disadvantate that it tilts only into specific directions. I am not sure whether it's worth using or better implement separate axes at the hotend/tool point. The skewing angle changes with position, which makes kinematic more complex. But I already thought about two Z axis actuators to support calibration in respect to the print bed.