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