Hallo, den Vorteil die Koordinatenverschiebung außerhalb der Berechnung zu machen verstehe ich noch nicht. In meinen Rechnungen wird ja exakt bezüglich des Absolutkoordinatensystems die Armstellung berechnet. Es ist ja erst mal eine Addition bzw. Subtraktion. Die muss mit jeder Programmschleife doch so oder so vollführt werden, oder? Da wir hier ja ein gekoppeltes System haben wird selbst bei z=by theothermike - Software
Ach...ein wenig nachdenken müssen wir da auch...vor allem beim Winkel "y"... *g* Aber meinst du Rg= (R1 x R2 / R1) + R2 oder Rg= (R1 x R2) / (R1 + R2) ??by theothermike - Software
Thanks a lot, I hope I can get it running... You already stated that the modified Marlin-Firmware from ttsalo is working. So that´s one try. A second try would be "Teacup".Teacup seems to be nicely made and also supports the Teensy3, which would give even more performance. Because it´s state of the art, it would be very nice to get it running... It was said: QuoteTraumflug Looking at the code cby theothermike - Polar Machines, SCARA, Robot Arms
Hi, hatte parallel auch mal den Stift geschwungen...nicht ganz so stilvoll dargestellt wie AlterBastler aber...: AlterBastler, kann es sein dass dein Winkel "y" nur "Pi/2" benötigt..? Deckt sich aber glaub so weit. Erst mal wichtiger aber, wieso ist es sinnvoller die Koordinatenverschiebung erst später zu machen? Ich habe das mal mit reingenommen, machts nicht wirklich heftiger. Grüße Mikeby theothermike - Software
Cool ! Habs noch nicht vollständig nachgerechnet, aber müsste es nicht heißen: Z(C)=Z(D)+L3 Vielleicht ist es aber auch noch sinnvoll den Absolut-Nullpunkt tiefer zu legen? Die Rotation (alpha) wird ja überhalb der Arbeitsplatte erfolgen, damit müste "A" und damit der ganze Rest auf der z-Achse nach oben rutschen, sagen wir mal um "L0" ? Grüße Mikeby theothermike - Software
Slow progress... Today I finished the lower baseplate: Rupper pads are from ebay:by theothermike - Polar Machines, SCARA, Robot Arms
Hallo, gibt es denn schon eine kinematikberechnung und Definition des Koordinatensystems/Winkel/Längenbezeichnungen/z-offset/Tool-Länge/ usw. ?? Da die Firmwares wie ich finde sowas meist auslassen, wäre es vll. hilfreich hier eine Zeichnung und Rechnung festzulegen?? Grüße Mike PS:by theothermike - Software
AlterBastler...nicht böse nehmen...: was sollen die Beispiele zeigen? Dass eine bereits bestehende Konstruktion in Form des UARM eine gewisse Reproduzierbarkeit hat? OK. Dass dies die hier zu erwartende Reproduzierbarkeit sein wird? Nein. Das sind zwei paar Schuhe und der Fehler durch die Software kann rein theoretisch beliebig klein gemacht werden (Auf Kosten der Geschwindigkeit, u.a...). Der mby theothermike - Software
Der "UARM" kann 3D-Drucken?? Ist es nicht eher so, dass er angelernt wird in dem der Bewegungsablauf abgespeichert wird? Der Bauraum bezogen auf die Grundfläche ist doch immens, ordentliche Hardware macht das Ding nicht weniger genau als die konventionellen Maschinen...vor allem, wenn die gcode-Unterstützung firmwareseitig läuft, kann (nein, wird) das ein total geniales Arbeitspferd werden...by theothermike - Software
Great, compiles without error. Thank you so much !!!! :-)) Kind regards, Mikeby theothermike - Firmware - experimental, borrowed, and future
Hi there, I have a problem compiling the Teacup SCARA firmware... I downloaded the scara branch zip file, unzipped the folder onto the Desktop, renamed it into "Teacup_Firmware", made a copy of "config.ramps-v1.3.h" and renamed it to "config.h", opened the "Teacup_Firmware.ino" and tried to compile. At first, there was an error telling me to use "Tools --> repair & reload", what I did. Aby theothermike - Firmware - experimental, borrowed, and future
Hallo zusammen, es ist doch so, dass tausende cnc-Eigenbaufräsen wundervoll ohne Encoder laufen und die tollsten Sachen fabrizieren. Lediglich Überlastung führt zu Schrittverlusten im Falle der Stepper, so dass Encoder keine prinzipielle Notwendigkeit sind. Eine Koordinaten-Nullstellung ("Homing") zu Beginn wie bei den cnc-Fräsen kann doch mit dem Roboterarm manuell bzw. per "Gamepad" erfolgen,by theothermike - Software
Short update...found some time to fabricate the motor mounts, assembled them onto backplane and mounted steppers... Next step will be the lower baseplate...by theothermike - Polar Machines, SCARA, Robot Arms
Sollte schon gehen...! ;-) Grüße Mikeby theothermike - Software
EVilMonkey, indeed, ttsalo software with your modifications is first choice!by theothermike - Polar Machines, SCARA, Robot Arms
Why not ? Each machine geometry has its own benefits / drawbacks. For some guys the cartesian geometry is easy, simple, reliable and well known. For other guys there is some kind of SCARA geometry which fits their needs more closely. I started mechanical design of a dual arm SCARA because for me it has the following benefits: Low part count. No linaer rails, belts, spindles,.... Low footprintby theothermike - Polar Machines, SCARA, Robot Arms
Any news on this one ? Is it correct, that you only modified "Marlin_main.cpp" beginning in row 4343 to fit your single arm geometry? Is there another file needed to be modified?by theothermike - Polar Machines, SCARA, Robot Arms
Dear Viktor, you mentioned the ABB robotstudio....I wondered how the software communicates with the robot itself? Sometime back I read about a guy who has interfaced his diy robot with the robotstudio. Unfortunately he did not tell how he has done that. So there must be a way to use the robotstudio to control diy robots?? Do you have an idea how to tackle this? BR Mikeby theothermike - Polar Machines, SCARA, Robot Arms
Makes me feeling sad that your machine is not working properly! Firmware modding is really a pain i.t.a. .... But the "Morgan"-firmware should be quite similar regarding the IC needed for this one here...at least I hope so....by theothermike - Polar Machines, SCARA, Robot Arms
Short update... Harmonic drives (HD) assembled into the HD-carrier, all together mounted with the arms onto the back and middle plane (not visible here)... Next step will be the stepper mounts...by theothermike - Polar Machines, SCARA, Robot Arms
Hi, the fine adjustment screw is a very good advice! Before manufacturing it, I will redesign it... Thanks for help !!by theothermike - Polar Machines, SCARA, Robot Arms
Thank you! Hopefully I can get it running as wanted... and hopefully we both can find a suitable solution for an up to date software..by theothermike - Polar Machines, SCARA, Robot Arms
Hello Everyone, after some months of reading this forum, searching the web, construction and reconstruction of several ideas, I thought I could share some ideas and images of my machine. My target: Compact and portable laser engraver for cutting paper and/or thin polymer layers, branding into wood. There are many machines using cartesian geometry, which would somehow be an "easy" solution withby theothermike - Polar Machines, SCARA, Robot Arms
Hi there, great machine! Thanks so much for showing and sharing the firmware!!! What are the specs of it (arm lengths, bearings, steppers, µ-stepping,...) ?? Could you please also tell us which Marlin files you have modified ? Just in case somebody wants to implement a slightly different geometry .... I´m completely lost when looking into Marlin for finding the Morgan implementation...mainlyby theothermike - Polar Machines, SCARA, Robot Arms
Ah...perfect. Thank you so much for the detailed Images. So it seems that you´ve milled the bearing seats in the upper arm from two sides...wasn´t it somehow tricky to align the seats on both sides coaxially?by theothermike - Polar Machines, SCARA, Robot Arms
Good evening, I think I have calculated the inverse kinetics for the single-arm-SCARA and the parallel-arm-SCARA as well. Here are the calculations... Perhaps it is useful for someone...? (hopefully there´s no mistake in it!?) The parallel-arm-SCARA kinetic seems to be easier than the single-arm with respect to calculation effort. In case of the parallel-arm-SCARA, the math for the second (rby theothermike - Firmware - experimental, borrowed, and future
Ah, OK....Morgan style.... @Robert: Wouldn´t it be useful to directly implement the kinematics for the (3.) Parallel-arm SCARA where the motors are spatially separated ? When setting the motor displacement to "zero" the coaxial geometry (4.) would be resumed....and one software could serve two different SCARA types.by theothermike - Firmware - experimental, borrowed, and future
Good Evening, I found this thread while searching for SCARA...so it seems "Teacup" is currently modified for SCARA robots by Mr. Kuhlmann (Guten Abend! :-) )!? Well, this is great and very interesting! Still I´m very new to all this 3d-printing stuff and perhaps I didn´t get it directly, so please excuse if my question is too obvious for you, but: What type of SCARA geometry will be implementedby theothermike - Firmware - experimental, borrowed, and future
Very nice ! Still wondering how you have done the bearing in the arm elbows and on top. On top you drilled through a screw I think (M8 ?)... is there an axial bearing between arms? And in the elbows? BR, Mikeby theothermike - Polar Machines, SCARA, Robot Arms