Parasolid model for hexapod

I've made a Parasolid model as promised. It seems to open correctly in SolidEdge and SolidWorks. The model is pretty exact, though it might be different from actual machine in a few small details. Hope it can be useful for someone.

CAD model for hexapod is coming

People keep asking me about CAD model for the hexapod machine. I'm working on it. Parasolid x_t format, I guess.

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.

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.

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.

EMC2 hexapod: the beginning

The project aims to:
 - prove the possibility to build 5 axis machine tool with decent performance out of cheap imprecise components;
- develop simple and effective desigh of joints and actuators for parallel machine tools;
- elaborate automated methods to calibrate parallel machine tool without expensive equipment.

Available information on existing multiaxis parallel machines was analysed and evaluated. The following considerations and requirements to parallel mechanism and its components were taken into account:
1. Single-type actuators for all dof to minimize the number of components. That leads to fully parallel machines only.
2. The simpliest possible design of all components to minimize manufacturing cost.
3. The lowest precision of base frame so that it could be weld and bolted with no additional equipment.
4. The servo motors preferred to steppers - they do not lose steps, have uniform torque up to maximum rotation speed.
5. The base frame should be tall enough to provide free access to working envelope and wide enough to be steady.