You mean like the rostock?.
This is the code for arduino (marlin modification for rostock). This is the
inverse model, (input cartesian -cartesian array in the code- and output
joint coordinates- delta array in the code-),
void calculate_delta(float cartesian[3])
{
delta[X_AXIS] = sqrt(sq(DELTA_DIAGONAL_ROD)
- sq(DELTA_TOWER1_X-cartesian[X_
AXIS])
- sq(DELTA_TOWER1_Y-cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
delta[Y_AXIS] = sqrt(sq(DELTA_DIAGONAL_ROD)
- sq(DELTA_TOWER2_X-cartesian[X_AXIS])
- sq(DELTA_TOWER2_Y-cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
delta[Z_AXIS] = sqrt(sq(DELTA_DIAGONAL_ROD)
- sq(DELTA_TOWER3_X-cartesian[X_AXIS])
- sq(DELTA_TOWER3_Y-cartesian[Y_AXIS])
) + cartesian[Z_AXIS];
}
But I think there is somebody playing with the Rostock and LCNC so a more
direct answer should be available.
Cheers,
Javier
On Wed, Jul 10, 2013 at 8:28 PM, Eric Keller <eekel...@psu.edu> wrote:
> On Tue, Oct 23, 2012 at 11:38 PM, Charles Steinkuehler
> <char...@steinkuehler.net> wrote:
>
> > The ultimate goal of all this is to make a delta-arm 3D printer and
> > use kinematics in LinuxCNC for the tricky math bits that are hard to
> > do on the AVR micro-controllers most 3D printers use for control.
>
> Now that I know more about delta robots, I was curious if anyone had
> seen code for the kinematics for a linear delta robot? I have
> articles about it, but would rather not code it up from scratch if I
> don't have to do that. There is a topic on the Lcnc forum about this,
> but the question remains unanswered.
>
> I blame Charles for my new-found obsession with delta robots.
> Eric
>
>
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