DELTACORE - "new" kinematics on Marlin

Hi, I want to share "new" kinematics combination I implemented - deltacore.
Z axis is regular, while X and Y work like delta but in one plane.
It is named similar to corexy, because when two motors work in same direction it is only X-axis movement,
and when motors work in oposite directions it is arc movement mostly in Y-axis.
Check it out here: https://www.youtube.com/watch?v=YO74M19ytRc


In advance of any questions - I did it because I could, there are very few benefits and much compromises.
Main supposed benefit is ability to use heavy linear rails and ball-screws, but keep toolhead assembly ultra light.
Second, questionable, is ability to make entire bed assembly easy swappable, or collapsable to save space when not in use.
But all good is overshadowed by small shield-shaped printable area, which is equivalent to bed slinger but without corners.

If you for some reason interested in bulding another deltacore "unicorn", I made it relatively easy on software side.
Without clue how to do it using existing kinematics, I copied how delta is implemented in Marlin.
Everything tested except sensorless homing and bed leveling (only bilinear augmented, other theoretically should work as is).
Here is cleaned Marlin-2.1.2.2 with only deltacore-related changes:
"Marlin-2.1.2.2-deltacore-clean.zip" at Medifire - 9.26MB
And here is my bulid with other junk but gurantee to compile:
"Marlin-2.1.2.2-deltacore-prototype.zip" at Mediafire - 9.34MB

Edited 1 time(s). Last edit at 05/07/2025 10:45AM by GIRATOR.

... good work!

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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]

Sadly this type of kinematics is covered by a patent. I was looking at using this kinematics in a belt printer when I read the patent, and I don't remember whether it also applied to printers with traditional moving beds.

Edited 1 time(s). Last edit at 05/08/2025 02:27PM by dc42.

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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].

What a coincidence that this build is belt-ready, just connect stepper!
Any clue what patent it is or who owns it?
I quite ignorant about state of modern patent law, but can it possibly cover "providing software which facilitates functioning...", this is just math equasion.
And are there places where bulding patented design in privacy of your home is actually punishable ?

... there are several if not many similar or slightly different mechanics known, so a single patent shouldn't block it completely ... look into "parallel kinematics".

For example, look into the first attached image here: [reprap.org]

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

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