About delta - XY axes math is a delta. About Sarrus - it is just prototype, and required testing (one week later I hope) Generally speaking I try experimenting as much as possible - because I can. My current Scara printer became good only after third revision, and now I am happy with it. Of course current DeltaXY pure experimental setup and I don't afraid to get failed.by PavloG - Delta Machines
Small update Extruder on rotation platformby PavloG - Polar Machines, SCARA, Robot Arms
Rotation - clockwise from heating block side view (suck air to center, exhausting at impeller top area). Some experiments required (better with colored fluids).by PavloG - Delta Machines
I hope to do testing during weekend. But seems like air flow bigger than China e3d v5 fan.by PavloG - Delta Machines
Progress a little bit delayed due to: Hotend sink with impellerby PavloG - Delta Machines
Two arms(canonical scara) or parallel (my) arms mechanically the same. (of course if i correctly understood your terminology) You may drive second arm by belt or stepper placed on the end of first arm. In case of stepper - it should be very strong, acceleration and speed will be decreased due to the mass. In case of belt - i don't see problems, but parallel arms were chosen (as for me it is a litby PavloG - Polar Machines, SCARA, Robot Arms
Firmware on git hub Openscad sources on git hubby PavloG - Delta Machines
DeltaXY - work in progress Dry Run video Fast Movement videoby PavloG - Delta Machines
Rigidity is ok (I checked it on real printed prototype) - it is only 130 mm beetween rods. Also it is possible to use MGN type rails for bigger sizes or 2 rods on each size (as your said) Calibration seems to be even simpler than regular delta (of course some surprises are possible but I don't afraid)by PavloG - Delta Machines
First printed prototype (e3d v6 mouned - not visible from this point of view) 4-LM6UU, 6-623 bearings, 2-200mm 6mm rodsby PavloG - Delta Machines
Hi everyone I started working on DeltaXY Kinematic Idea descriped in images and video Top view: Video Math and Web visualization Current setup allows to have biggest reachability with shortest arms. My targets: 100x100x100mm build area with smallest possible box (approx 140x200x150mm) Closed build area Fast Cheap Opensource Software - Marlin (i have experience to modify source code) Z-by PavloG - Delta Machines
Yes. My arms block can be converted to palletizing robot arm - just rotate on 90deg plus add extra arm to constraint end effector to be perpendicular to the ground, then add rotation axis or ever leave as it.by PavloG - Polar Machines, SCARA, Robot Arms
Thank you. Note: About FIVE_BAR or SCARA_TYPE 2 It is suported, but it may be broken (i just left old code but some artifacts may appear) Last stable version (with fivebar tested) limited by changelist - 8e789cd9eb17dd5e8e8ee45dbc814715ddcb8e36 (11 Aug 2015)by PavloG - Polar Machines, SCARA, Robot Arms
2 prev designs were made with moving table. Just to compare my "moving platform" vs "moving arms" seems like "moving arms" is better. I like "moving arms" because of: Simple design and mechanics Detachable platform - easy to exchange to other or just pack for transportation Not a lot - but enough for me.by PavloG - Polar Machines, SCARA, Robot Arms
Hi Everyone Let me introduce my new SCARA based 3d printer (actually this is this version 3) Video: 100+ mm/sec test run Video: Printing Gear Schematic view: ZMin end-stopper Half assembled Arms endstoppers Print quality - 0.3 nozzle OpenScad (use scarav3.scad) Firmware - Marlin Thanks for your feedback...any suggestions, critique and discussion is appreciated.by PavloG - Polar Machines, SCARA, Robot Arms
Quotetheothermike The mathematical base zero coordinates (x=0, y=0) without offset sits in between the two shoulder joints ? Yes.by PavloG - Polar Machines, SCARA, Robot Arms
FBSIGN is a direction of rotation (in my setup it working right only with -1) comment line with - #define DISABLE_XYMAX_ENDSTOPS to enable xy max Again in my setup i used min endstoppers for homing.by PavloG - Polar Machines, SCARA, Robot Arms
Just tweak as your need values bellow (im my bot - steppers shaft looking down) #define INVERT_X_DIR false // for Mendel set to false, for Orca set to true #define INVERT_Y_DIR false // for Mendel set to true, for Orca set to false and #define X_HOME_DIR -1 #define Y_HOME_DIR -1 Added: Also you may change (i've updated git hub firmware - now it is in configuration.h) #define FBSIGNby PavloG - Polar Machines, SCARA, Robot Arms
Hi. This is working firmware for your mechanics. Proof Just modify values as you want #define Linkage_1 70 #define Linkage_2 80 #define FiveBarAxesDist 0 // the distance beetween axes. Plus extra math for mount bar controlled by: #define EndPointMountOffset 18 #define EndPointMountAngle 50 Visualizerby PavloG - Polar Machines, SCARA, Robot Arms
I write some code to visualize working areas 2 Arms Just modify parameters and press RUN, to see arms reachability. Also today i found a bug with Original Marlin Scara implementation. Fixes here NOTE: My firmware supports 2 configurations: 1) with #define FIVE_BAR - 5 bar SCARA with extra mount 2) Without #define FIVE_BAR - fixed bug in math for classic SCARA (2 arms).by PavloG - Polar Machines, SCARA, Robot Arms
He everyone. I just finished first version of SCARA based 3d printer (Actually 5 bar mechanics) My is My Scara repository. The mechanics discussed here seems good. My current problems is a z wobbling. Your may ask me about the code. Espacially if you need code support (i am programmer).by PavloG - Polar Machines, SCARA, Robot Arms