Wednesday, September 26, 2012

Yet another video of hexapod (must be the last)

Video with hexapod parallel robot 6 axis rapid moves from summer 2011. Way faster than the first video, but still not enough. Could be faster with better PSU for DMM servos, or with more advanced and more powerful servos. By the way, DMM already has Dyn-3 servos more suitable for closed loop, pity that it's too late for the hexapod.


Done (or almost done) with this machine, I'll probably cut one more final complete video and that's all.
But new machines and robots coming soon.

Sunday, September 9, 2012

Fastest 2 dof parallel manipulator

Just when I was thinking what can be done with 2 rotary actuators and came up with SCARA and RRRRR robots.


Very nice robot, 0.1mm accuracy with 15 to 25g! And the main drawback of parallel robots - their small workspace - is fully defeated here. Though the control must be complicated, as it has 4 working modes.
Industrial grade robot, some ABB or Adept company should make it.

Saturday, September 8, 2012

Another video of hexapod

I just found a video of hexapod parallel robot milling wood 5 axis from summer 2011, with improved velocity and acceleration. It should be MESA 7i43 that increased the step rate. And LinuxCNC is much more stable with hardware stepper than software.


The acceleration must be near 10m/s2, max velocity 10-12m/min.

Update: config files for 7i43 hexapod7i43.ini and hexapod7i43.hal.


Monday, April 9, 2012

LinuxCNC hexapod machine tool

As I promised, here's a bit more. Since EMC2 name has changed recently, now the machine becomes LinuxCNC hexapod.

The machine was assembled without ballscrews, servo drives connected to breakout boards and motors, and proved to rotate. Then the ballscrews were connected to the platform joints, and the nuts bolted to the actuators. Till the last moment there were doubts, that the platform would be rigid enough. But it proved rigid as planned! The very first moves were luckily captured on the video. Not much spectacular, but really exciting for me.


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