ShadowRam Wrote:
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> Pretty awesome
>
> Firmware could also be a challenge since I have
> never modified firmware before.
>
> Wait what?!?
>
> What are your programming skills like?
>
> You will need to implement all the complex math
> Annirak posted, but just not get it working,
> but write the code in a way that will be efficient
> for a low powered Arduino to crunch through fast
> enough.
>
> You are writing firmware from almost scratch, and
> it will be MUCH more complex than the standard
> Delta Rostock.
>
> You will have A LOT of dynamic forces at play in
> this setup with all the steppers pushing against
> each other and inertial weights moving around.
>
> Writing the firmware for this thing and getting it
> to work is the single biggest most complex thing
> you will have to do. It will be by no means a
> trivial task.
I guess I should state that I am a computer scientist with almost a physics masters (all but thesis). Let me assure you that the math on this is very similar to the Rostock. With the design as is (sans wheels. The wheels cause major math issues.) there is a direct correlation between the string length and the distance from swivel to tool. I won't have to use any trig just the good all Pythagorean Theorem. One position can be solved for with 15 additions, 9 multiplies, and 3 square roots. I just sat down and looked at Rostock's inverse kinematics and it is almost the same. The only meaningful differences are some additions go to subtractions. I think a weekend of digging through the Rostock code will get this done. (I am knocking on the base of Simpson right now. (Knocking on wood.))
-------------------------------------------------------
> Pretty awesome
>
> Firmware could also be a challenge since I have
> never modified firmware before.
>
> Wait what?!?
>
> What are your programming skills like?
>
> You will need to implement all the complex math
> Annirak posted, but just not get it working,
> but write the code in a way that will be efficient
> for a low powered Arduino to crunch through fast
> enough.
>
> You are writing firmware from almost scratch, and
> it will be MUCH more complex than the standard
> Delta Rostock.
>
> You will have A LOT of dynamic forces at play in
> this setup with all the steppers pushing against
> each other and inertial weights moving around.
>
> Writing the firmware for this thing and getting it
> to work is the single biggest most complex thing
> you will have to do. It will be by no means a
> trivial task.
I guess I should state that I am a computer scientist with almost a physics masters (all but thesis). Let me assure you that the math on this is very similar to the Rostock. With the design as is (sans wheels. The wheels cause major math issues.) there is a direct correlation between the string length and the distance from swivel to tool. I won't have to use any trig just the good all Pythagorean Theorem. One position can be solved for with 15 additions, 9 multiplies, and 3 square roots. I just sat down and looked at Rostock's inverse kinematics and it is almost the same. The only meaningful differences are some additions go to subtractions. I think a weekend of digging through the Rostock code will get this done. (I am knocking on the base of Simpson right now. (Knocking on wood.))