Re: [Emc-users] jerk control
The software in the link below is very widely used in industry. It is used inside MoveIt which in turn is driving many complex machines. https://moveit.ros.org On Fri, Aug 27, 2021 at 11:52 AM Curtis Dutton wrote: > That thread leads to this. https://githubhelp.com/pantor/ruckig > -- Chris Albertson Redondo Beach, California ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] New zero backlash gearbox
On Fri, Aug 27, 2021 at 3:12 PM Mark Johnsen wrote: > The galaxie's are really expensive. The average LCNC'er would freak out at > the price and not go w/ it. > How much? I have bought stuff from Schunk for work, so I doubt the price would surprise me much. I'm not buying a new harmonic drive with my money either. Eric Keller Boalsburg, Pennsylvania ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] New zero backlash gearbox
I've seen both harmonic gearboxes and that Galaxie put into robotic applications. The Galaxie is super strong, high torque, and has very good stiffness from input to output, which is critical in some (medical) robotic applications. The max output speed is probably lower than the harmonic drive, but the gearing ratios for both the galaxie and harmonic gearboxes is quite high. The galaxie's are really expensive. The average LCNC'er would freak out at the price and not go w/ it. But, it would make a great 4th axis if you could get your hands on one. The factory is in Germany, so maybe stop by and help them load a truck :-) Mark On Fri, Aug 27, 2021 at 1:20 AM John Dammeyer wrote: > Perhaps these are over designed for a lot of projects? > > From what I understand robots and even the Canadarm on the ISS use the > harmonic drives for the joints. > > Suppose I wanted to build a duplicate of this with slightly longer arms. > https://en.wikipedia.org/wiki/Armatron > > I have one of these still in the original box and have played with it for > hours. And then decades later my boys played with it. > > The TT Holders I use don't all have the slot like the original Tormach > units. In fact 5 of the Tormach originals don't have the slots either. > When I use my hand to catch the tool and place it in a rack I envision a > robot arm doing much the same thing. In fact the same arm could > theoretically serve a dual purpose and also place raw material and remove > finished product. > > So 4 rotating joints and a gripper. Since it's not a rotary table under > constant turning and precision is relative would 3D printed harmonic drives > work for the joints? Or do they wear too fast. They don't need to be > large and don't require tons of load capabilities. After all a TT Holder > with a 1/4" chuck and #27 drill bit isn't that heavy. > > In fact I could probably pull the parts out of the collet with the > Armatron. > > John > > > > > ___ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] jerk control
That thread leads to this. https://githubhelp.com/pantor/ruckig Pretty interdasting! On Fri, Aug 27, 2021 at 12:36 PM Andy Pugh wrote: > > >> It will require jerk limiting to really get the value out of the > machine. > > There is a jerk-limiting component in the forum > > > https://forum.linuxcnc.org/47-hal-examples/43401-hal-s-curve-component-for-download-loadrt-dofs-x > > It sacrifices path accuracy for jerk limitation (or so I assume) but would > allow folk to see what difference it makes. > > > ___ > Emc-users mailing list > Emc-users@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-users > ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] jerk control
>> It will require jerk limiting to really get the value out of the machine. There is a jerk-limiting component in the forum https://forum.linuxcnc.org/47-hal-examples/43401-hal-s-curve-component-for-download-loadrt-dofs-x It sacrifices path accuracy for jerk limitation (or so I assume) but would allow folk to see what difference it makes. ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] New zero backlash gearbox
Perhaps these are over designed for a lot of projects? >From what I understand robots and even the Canadarm on the ISS use the >harmonic drives for the joints. Suppose I wanted to build a duplicate of this with slightly longer arms. https://en.wikipedia.org/wiki/Armatron I have one of these still in the original box and have played with it for hours. And then decades later my boys played with it. The TT Holders I use don't all have the slot like the original Tormach units. In fact 5 of the Tormach originals don't have the slots either. When I use my hand to catch the tool and place it in a rack I envision a robot arm doing much the same thing. In fact the same arm could theoretically serve a dual purpose and also place raw material and remove finished product. So 4 rotating joints and a gripper. Since it's not a rotary table under constant turning and precision is relative would 3D printed harmonic drives work for the joints? Or do they wear too fast. They don't need to be large and don't require tons of load capabilities. After all a TT Holder with a 1/4" chuck and #27 drill bit isn't that heavy. In fact I could probably pull the parts out of the collet with the Armatron. John ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
Re: [Emc-users] New zero backlash gearbox
On Fri, 27 Aug 2021 at 00:42, Leonardo Marsaglia wrote: > > Really nice. Looks similar to a harmonic drive but more complicated. It > would be awesome to see what are the advantages of these over harmonic > drives. It looks a lot stronger. -- atp "A motorcycle is a bicycle with a pandemonium attachment and is designed for the especial use of mechanical geniuses, daredevils and lunatics." — George Fitch, Atlanta Constitution Newspaper, 1912 ___ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
