Subject says it all :-) Vacuum pump: I need to lift 200grams every 1 second, and for that am using 12V / 8A car pump. It looks that this is too week for such setup. Can someone suggest where can i buy such things and what would be adequate for such project ? Gas tube stabilizer - shock absorber - lifter - where can i buy / order something like this ( mounted in the middle of the base ) A.by Arnix - Delta Machines
I dont know what this ringing means :-), but i noticed one interesting thing. When the acceleration is low, robot draws straight line but as soon as i increase acceleration speed, robot starts to draw "waves". He is moving on X axes but he moves in waves. Or to be more exact, in half sinusoidal path. If i increase speed further, it will make bigger waves / faster moves, until it looses it :-) Iby Arnix - Delta Machines
No, gearing will be ready next week. Am just impatient to define final HW so i can change and set final design. You can call it professional defect :-)by Arnix - Delta Machines
There was i typo, but you notice that :-) then you will need even more gearing *** i can add bigger gear no problem. After you have see the video and after you know my setup main question is: Would those motors, with 10:1 gear system ( or bigger ) and with extruder/arms weight under 200 grams, able to archive this speed : This is the most important thing for me because all the rest can be cby Arnix - Delta Machines
Your 1/16 microstep size is around 0.56 mm now. That is a lot. Hopefully your gearing is at least 10:1 so that you get somewhere to 0.056 mm per microstep. *** funny that you mentioned that :-) I was thinking about that before day or two, but didnt take much notice on this. Gearing is 10:1... Btw. am using x32 micro stepping so this should be even worse :-) ? M350 X32 Y32 Z32 I0by Arnix - Delta Machines
Thank you all for your reply's ! @DC_42 - i read it, thank you for explanation. I will keep you updated. @O_lampe && Hercek -guys, you dont need to disable adblocker. Under red warning button you will see red link with "continue without disabling", click on it and then on slow download. Download will start and maybe some notification window will pop up. It's free and secure site, dont wby Arnix - Delta Machines
Hi to all. I spend whole day testing DC_42 suggestion on reducing acceleration and he was wright. The robot was bouncing and moving without control before that but now i can control it. HW: Duet3d Ethernet board, 1,8 degrees nema 23, 3A stepper motors. Weight of arms and head is 100 grams. Main power supply: 24V / 10A Btw.am using rotary design on linear delta firmware, so this could be alsoby Arnix - Delta Machines
Hi guys ! I was playing with some HW stuff and became obsessed with it :-) We implemented spring in the middle of robot and reduce the weight to 200 grams. Now we can lift the arms and its enough for testing purposes.. Btw.power supply is still weak one (24V/5A) but it will be replaced in few days. -------------------------------------------------------------------------- This is what i get wheby Arnix - Delta Machines
HI David ! Am happy to inform you that your suggestion regarding counterweight has worked ! Instead of counterweight we have added one spring in the middle of robot. Overall arms weight is now reduced to 100 grams ( from 1,5 KG ) :-). Now it's much better to work and now i can see what should be corrected. Am sending you few videos where you can see how all this works. Of course, there is no rby Arnix - Controllers
Thank you very much for your time and effort ! So, if i keep NEMA23 motor and if i add 10:1 gearbox, i will be able to lift 2KG load from 0 to 20 cm height in one second ? ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ I would not need any additional external power driverby Arnix - Controllers
Hi to all. Can someone suggest what kind of stepper motor and gearbox should i use to complete my model of rotary delta robot ?. This is the temporary setup of my robot: My goal --> regarding precision and speed This is technical data and setup that I use now: Motors --> NEMA 23 double axis, 3A ( 23HS8630 ) , green/black , red/blue Smaller arm length --> 30 cm , weigth 80 grammsby Arnix - Controllers
Any suggestion guys ?by Arnix - Delta Machines
I can not thank you enough for all your support. Before i write down my answers, please look at this robot : This is the speed that i want to archive but with bigger robot dimensions. I hope that this can be done with stepper motors. --------------------------------------------------------------------------------------- You have some other problem as well if it does not hold the screwdriverby Arnix - Delta Machines
I think i will stay on rotary design + planetary or worm reduction. Support for rotary delta is a matter of firmware not a board *** i agree with you. I meant that you have some out of box and ready to use solution... Am trying to understand what is happening when motor lifts some weight. To be more exact, in last tests ( without reductor ) holding torque was quite low and motor had problems lby Arnix - Delta Machines
OK. Resistance of the motor is 1 Ohm. Btw. if i change rotary to leadscrew design, do i still need to implement somekind of gearbox, to get higher torque ? On the other side, vacuum pump needs to be implemented also, so this will add some weight to arms... ---------------------- Just for info, what kind of board are you using and does your board supports rotary setup ? A.by Arnix - Delta Machines
0.) Video... strange i can open it without problem... 1.) Is it possible to connect external power source to motors ? So i dont need to be limited to DUET's 2A supply ? 2.) hercek, thank you for calculation. If i add gearbox, how much would this slow down whole movement and on the other side, will the power supply be enough for "implementing" this gearbox ? 3.) What other stepper motors wouldby Arnix - Delta Machines
Hi O_lampe ! I can add stronger power supply but current will be still limited to 2A. Are you suggesting to connect some external power supply ? If so, how ? Thank you for your fast reply ! Arnixby Arnix - Delta Machines
Hi to all. Am setting one rotary based delta robot with duet3d ( Ethernet ) board. Really good board with great web interface. As test am using delta firmware from duet3d, but we are planning to add our rotary firmware ( maybe duet will release support in few months ? ) The delta robot that we are testing looks like this: TECHNICAL STUFF: Motors --> NEMA 23 double axis, 3A ( 23HS8630 ) , grby Arnix - Delta Machines
I think a lead screw attached to the 'elbow' would work. But I don't know, if you have enough workspace for that. --> i have space, i can do that. That was original idea but my goal was the robot that i have showed before. I think i will stick with rotary design for now. Btw. do i need dome encoder if there will be power losts or something like that ? I found this one : Simulation : :-) iby Arnix - Delta Machines
I can add belt or lead screw... 1.) What setup would be better for my situation, belt or lead screw. I have read somewhere that belt is for faster speeds, but i dont know if belt is good choice for my situation ? I think screw system could be better choice, and simpler to implement ? 2.) Is there any chance that rotary firmware would be ready in two months :-) ? Arnixby Arnix - Delta Machines
The worst thing about this config is the low resolution. The steppers would rotate ~140° ( 78 full steps) for the whole travel of about 60cm. *** What is your suggestion for correct this ?. If necessary i can change the HW i just need to understand / know how. 1,8 x 78 = 140 degrees --> OK How did you get 60 cm ?by Arnix - Delta Machines
That's what I metioned earlier: It's not pure Delta kinematics, but adds some sin/cos coefficients to it. *** So, what would you do in my case. I can rearrange this part but am not quite sure how and why is this necessery. Maybe this can be configured in config file ( dc_42 ? ) A.by Arnix - Delta Machines
Now I know, what you meant with "biceps and forearm" ** :-) Maybe dumb question but how should i calculate steps/mm if i dont have belt or lead screw drive ? Biceps is directly connected to motor. Motor connection : Green - Black --> one phase Red - Blue --> second phase (coil) Yellow, white unconnected. This should do it.... Endstop: Am planning to use this approach: I think this couldby Arnix - Delta Machines
Hi O_Lampe ! We created new test version ( look at the link ). Joints will be removed and changed with some other solution, but for testing purposes, it should be enough. Biceps is 33 cm and rod is 100 cm, but this will be also changed to 50 x 80 cm or 60 x 70cm... Whole three rods + head, weight 1,8 kg but the head alone has 450 grams ( head will be completely redesigned and final weight wilby Arnix - Delta Machines
Woah, that's fast. I'm afraid you have to live with ~50% speed of this. *** :-) yea, thats fast, but it looks so damn nice :-) *** am just wondering, if i use motors that i bought ( the same as yours ), and if i setup some gear system, would it be possible to upscale this 50% to let's say, 70 % ? :-) Higher voltages: ** If i remember correctly, DC_42 has mentioned somethign of external driver bby Arnix - Delta Machines
Hi Guys ! Am terrible sorry i could not reply sooner. We are building new HW for our robot so am spending much time with this... Before i forget. are the stepper motors that i ordered in range or some servomotors , regarding speed and setup ? Am asking this because i want to calculate some max real working speed. Can we except something in this range :by Arnix - Delta Machines
I saw those magnetic joint but i dont know if this is ok for our setup... Rods ends can not be magnetic one and plastic end will use itself quite fast,IMO.by Arnix - Delta Machines
Config file: - we made basic test and its working but maybe we are doing something wrong. It looks like it's not started from home position. We have to drive them to z+100 and them motors start to spin. When we send G1 Z then it returns them to HOME position. So basically, i can not start from home position but i can return to it. Btw. we need to implement endstops and this is first thing to do :by Arnix - Delta Machines
HI guys ! I could not reply sooner. I played a bit with duet board and its working great but i dont know how to turn all three motors at once. Basically i can control each of those 3 motors but i can run them altogether ( eg. to pull all arms up or down at the same time ). Air pump - you are on right track :-) the idea is still the same i just need to find away how to make this. - end of the puby Arnix - Delta Machines
You have to install some sort of z-endstop on your toolhead. Then send G1 S1 Zxxxx . That S1 paprameter lowers the z-axis until the endstop triggers. *** OK. Got it. What kind of vacuum pump would you suggest for this kind of setup ? It must be some industrial grade because it will work 24 / 7.. The G-, M- or T- command must be at the start of the line (unless you are sending line numbers too) bby Arnix - Delta Machines