Igor, Gene, Sam - thank you! 2011/4/13 Javier Ros <j...@unavarra.es>
> Andrew, > > I have to say that I'm impressed. > It seems to work nicely, and as I remember you started > to build it few months ago. > > Yes, I purchased the spindle, ballcsrews and drives last summer. It took almost three months to consider the best way to put them together. On October the project was generally ready (as I said, it was much inspired by your machine), so we purchased channel bars and started making the base. The base and the first prototype of actuator were ready on November. But producing 6 actuators took more than 3 months. I would be interested to read on the particular elements used > to build the system. Joint implementation, servo, stepper, encoders?. > > All joints are homemade. The upper joints bearings taken from auto transmission U joints. The rods (24 psc.) were hardened and ground. Lower joints have polymer bushings. Generally, lower joins are to be improved, because now they limit the platform tilt. But they're compact and cheap. Servos are DMM technology, 400 W with built-in encoders, now in stepper mode. Servo mode is to do. Also about problems in the working, like vibrations or whatever. > > Generally, there are some vibrations time by time. It proved hard to get all the actuators work smooth at very low speed, this is both mechanical and driver setup issues. Also lower joints can cause vibrations at higher velocities. But as you can see, generally motion is smooth enough. Ballscrews are pretty long and only 25 mm daimeter, large would be much more stable. But the project cost is below $5000, I guess it's perfect for the money. > Which kind of research are you planning to do with it?. > First of all, it needs homing (coming soon), and I think much about calibration, looking for suitable touch probe (making one would be fun, but it takes time). Also I plan measuring stiffness, accuracy etc. Andrew ------------------------------------------------------------------------------ Forrester Wave Report - Recovery time is now measured in hours and minutes not days. Key insights are discussed in the 2010 Forrester Wave Report as part of an in-depth evaluation of disaster recovery service providers. Forrester found the best-in-class provider in terms of services and vision. Read this report now! http://p.sf.net/sfu/ibm-webcastpromo _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
