I think the hardest part (other than creating the kins) is dealing with backlash. Creating rotory motion without backlash, to me, would be a lot harder than with linear.. Spring load them all one way? double sets of gears forced against each other?
very cool though. sam ----- Original Message ----- From: "Jeff Epler" <[EMAIL PROTECTED]> To: "Enhanced Machine Controller (EMC)" <[email protected]> Sent: Tuesday, December 04, 2007 8:26 PM Subject: Re: [Emc-users] Pivot mill > What an interesting looking machine. > > We have a demo of a similar type of machine, called SCARA. In emc > 2.2.2, you can run the sample configuration scara/scara.ini and see a > visualization of this machine on your desktop. Screenshot here: > http://axis.unpy.net/01170693566 > > In emc, the process of converting from the XYZ coordinate system to the > motor positions of a particular machine (and back again) is called > kinematics. > > You can view the source code for the scara kinematics online, to get an > idea of the complexity: > http://cvs.linuxcnc.org/cvs/emc2/src/emc/kinematics/scarakins.c?rev=1.5 > > There is also documentation on writing a new kinematics type: > http://linuxcnc.org/docs/2.2/html/motion_kinematics.html > > It is possible to build new kinematics types as a part of emc, or add > them to an existing emc installation -- install emc2-dev and > build-essential, then use "comp --install yourkins.c" to compile and > install a new kinematics module. The kinematics module is typically > specified at the very top of the first .hal file used for machine > configuration. > > emc has some shortcomings for "nontrivial" machines. > * How to specify and enforce joint limits for acceleration and velocity > (at present, only cartesian limits are enforced) > * How to specify the working volume of the machine > however, there are a number of people interested in improving these > items, so it's possible that we'll find solutions during the current > development cycle. > > Jeff > > ------------------------------------------------------------------------- > SF.Net email is sponsored by: The Future of Linux Business White Paper > from Novell. From the desktop to the data center, Linux is going > mainstream. Let it simplify your IT future. > http://altfarm.mediaplex.com/ad/ck/8857-50307-18918-4 > _______________________________________________ > Emc-users mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/emc-users > > > -- > No virus found in this incoming message. > Checked by AVG Free Edition. > Version: 7.5.503 / Virus Database: 269.16.13/1170 - Release Date: > 12/4/2007 10:52 AM > > ------------------------------------------------------------------------- SF.Net email is sponsored by: The Future of Linux Business White Paper from Novell. From the desktop to the data center, Linux is going mainstream. Let it simplify your IT future. http://altfarm.mediaplex.com/ad/ck/8857-50307-18918-4 _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
