6 Axis linear Delta
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Hello community,
I am in the process of building a 6 axis delta. Construction and material sourcing is complete. Now comes the fun part, the programming.
I want to test the delta first and use it as a normal linear delta (3 axis).
First I would switch the motors together using the command:M584 X0:4 Y1:5 Z2:6 E3; two motors for x, y, z connected to driver outputs
As described in the "Bed leveling using multiple independent Z motors" section. Can I adopt the same procedure for x/y/z (Delta: Tower 1/2/3)?
As a next step, if the delta is running well, I would separate the 6 motors and run them individually. Does anyone have any advice?
Best Regards
Tim -
@tkln AFAIK that approach should work for the axis - one way to find out - give it a go without the effector attached and see if the motor move as expected!
You will need a new version of the delta kinematics class for 6 axis.
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@tkln nonlinear printing?
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Yes
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@tkln very interesting. Think this could be the future if they ever get a good slicer.
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Hey,
here are some updates from the project "6 Axis linear Delta".The connected motors works well.
@tkln said in 6 Axis linear Delta:
M584 X0:4 Y1:5 Z2:6 E3; two motors for x, y, z connected to driver outputs
So the first test was successful and the 6 axis linear delta does exactly what a 3 axis linear delta should do.
My plan is that the Effector can tild 45° over a 300 mm Printbed.
Fun fact the diagonal Rod length is much much longer compared to a 3 axis linear delta to achieve the 45° tilt.
Now I have to separate the 6 motors.
-> My next step is to modify the kinematics for 6 Axis.
Does anyone here have any information and/or ideas?Is it possible to modify the files (LinearDeltaKinematics.cpp, LinearDeltaKinematics.h) and add 3 axes or is it better to create a completely new kinematic?
- LinearDeltaKinematics.cpp GithubDuet3d
- LinearDeltaKinematics.h GithubDuet3d
Can I use the Denavit-Hartenberg transformation (DH Transformation) to build the Inverse Kinematic or doesn't the RepRapFirmware support it?
I'm happy about every idea and support
