@o_lampe said in [Delta] Rod spacing 20mm, Pros & Cons?:
@engikeneer said in [Delta] Rod spacing 20mm, Pros & Cons?:
the smaller your arm spacing (between parallel arms), the less stable your effector is
One user has made a spreadsheet to calculate that, but I can't find it back. @garyd9 IIRC it was you?
It also answered the question, if a wider effector has negative effects.
I want to put the DD extruder as close to the effector as possible to avoid it being top heavy.
(For some reason, the forum doesn't notify me whatsoever on mentioned, so I'm just now seeing this message...)
I didn't make a spreadsheet, per se, but used the theory posted in the reprap wiki to find the ratio's used by the smart effector, and carry that same ratio to any other arm spacing. It was in a "smart effector tool board" thread. I'll find it and edit this post...
Edit: it's around here (it's difficult to link to the single post on this forum): https://forum.duet3d.com/topic/19522/smart-effector-including-toolboard-capabilities/50
The relevant part is:
Also, there's more to arm spacing than just the gap between two parallels arms: there's also the gap between the "centers of articulation" (as described here: https://reprap.org/wiki/Delta_geometry#Effector_stability and referenced there as "b".) From that page, there's a theoretical relationship between effector stability, the arm spacing, and "b".
For reference, @dc42's smart effector has an arm spacing of 55mm, and a "b" of 12mm. Using the formula provided on that linked page (Tilt Effector Stability = (Arm space)²/b), the smart effector has a "TES" of ~252.08.
Assuming that theoretical work is accurate (or close to accurate), the effector from mrac1 has a much lower stability of ~134.94. (64^2 / 30.354)
From that, I started playing around in Fusion360 modeling arm spacing, and set thing up so that the "b" value is computed automatically based on the arm spacing in order to maintain a "TES" value of 252.08. (I just force the "b" value to be "( arm space )² / 252.08 mm.") Then I linked mrac1's excellent extruder model on top of the resulting sketch and kept adjusting the arm space until the arms (and arm movement) was completely clear of the lines connecting all 6 ball joints. (My choice of clearance was somewhat arbitrary. Some delta builds would need more space, and others would need less.)