I'm still looking for information to clarify my doubts and how the intuition suggested to me ..
I found a study that describes the error in parallelism effector relative to the plane, which can occur due to joint backslash, difference in length of the arms, various mismatches, etc.
In the delta system with parallelogram inaccuracies constructive reveal themselves as positioning errors, while in the delta system without parellogramma, the 'effector rotates as you can see in the attached file.
The image is inverted because it refers to another robot but is very clear ...
@sheepdog 43
This is my first project of a 3d printer so I do not have the certainty of being right, but from the information I've found it seems to me that the firmware running on traditional delta could work without too many changes even on delta with single link, i just have to insert correctly the geometrical parameters of my printer.
Regarding the slincing I have not yet informed of ......
I found a study that describes the error in parallelism effector relative to the plane, which can occur due to joint backslash, difference in length of the arms, various mismatches, etc.
In the delta system with parallelogram inaccuracies constructive reveal themselves as positioning errors, while in the delta system without parellogramma, the 'effector rotates as you can see in the attached file.
The image is inverted because it refers to another robot but is very clear ...
@sheepdog 43
This is my first project of a 3d printer so I do not have the certainty of being right, but from the information I've found it seems to me that the firmware running on traditional delta could work without too many changes even on delta with single link, i just have to insert correctly the geometrical parameters of my printer.
Regarding the slincing I have not yet informed of ......