I considered building one for quite some time, but eventually dropped it on favor for linear delta. Large amount of torque is needed, although I can't calculate how much even if my life depends on it. The academic papers available online quote some scary numbers of tens of Nm for average sized robot. Working volume calculation is tricky. The inverse kinematics equations include trigonometric funby georgi - Delta Machines
Thank you, sheepdog43 and all who responded. I will sure post pics.by georgi - Delta Machines
You seem to overestimate my abilities by a large margin My XMOS startup kit is due to arrive today, and I haven't programmed a microcontroller, save for a brief exercize with a PIC some 10 years ago. A great concern right now for example is how am I going to soldier the driver chip in TSSOP-38 package, seems I'll have to do a refresher how to make PCBs at home. I never was very good at electronby georgi - Delta Machines
Thank you for the elaborate answer. I find the direct drive delta the most fascinating design, that's the reason I was asking. My intention is to build and program a controller and motor drivers myself anyway (I got attracted to 3d printers while looking for some embedded programming project to do). If it starts to look that I'm successfull with these I think I'm going to try building it.by georgi - Delta Machines
Well, most of the designs I'm aware of use 3 linear stages, I was asking about this design, or rather, the reasons why it isn't very popular.by georgi - Delta Machines
The direct drive one? The discussions here and most attempts I could find are dated around 2010. There are probably reasons behind this, but I couldn't find any clearly stated, so I can only guess - too powerfull motors required? too hard to get good accuracy? Thank you in advance.by georgi - Delta Machines