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Delta robot cnc test

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Home-made desktop deltarobot. Run by EMC2. PID dc servo control,
joystick control. webcam viewer: camview-emc.
Specifications:
Working area: 200mm diameter, 150mm height.
Max feedrate 6000mm/min.
Acceleration up to 1000 degrees per second squared.
Absolute accuracy of about 0.5mm. (50x50x50 workspace, without lateral load)
Calibration should be, but it is very difficult!
Repeat accuracy is about 0.1mm
24 volt wiper motor, driven from 12V. Faudi wrists.
Home-made PWM mosfet drive and magnetic rotary encoder AS5040.
Serial motor resistor and PWM current limiting.
808nm 2W laser diode.
I think may be suitable for rep-rap as well.
EMC2 sensationally good!
The deltakins file downloadable:
kvarc.extra.hu/...
Ball joints:
www.baro-ker.hu...
igubal:
www.igus.hu/wpc...
Nincs teljesen benyomva a gömb, hogy nagyobb szögelfordulást
lehessen elérni.

Опубликовано:

27 авг 2024

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Комментарии : 42

@douro20 12 лет назад

The overall design of a delta robot is very simple, but its kinematics are extremely complex. It is probably more difficult to design motion control for this type of robot than it is for any other.

@hg5bsd 13 лет назад

Hungary is thus referred to as: Faudi head. Used cars such as the rear door strut wrist. Spherical wrist: auto parts, it's not expensive. There are different sizes, mine M5 threaded. Good luck!

@hg5bsd 13 лет назад

Diode laser: 808nm 2W TO-3 with FAC lens, div. 12x12deg. Focusing optic: one lens with focus dist. 20mm

@hg5bsd 12 лет назад

I use modified circuit:"PWM DC Motor Controller Using MOSFETs and IR2110 H-Bridge Driver" /net/. Mod: L6506 current-limiter

@bublitzrhoads 4 года назад

Good job, can you share your circuit?

@williamhuang5329 2 года назад

Hanzhen harmonic drive gear , robot joint, strain wave reducer, over 30 years experience

@pkmcnc 13 лет назад

Great! This is your best robot so far! What's next?

@hg5bsd 11 лет назад

Hát 1 kilóhoz határeset, nem marad sok erő a gyorsulásokhoz. Ez a moci amúgy jól néz ki, de kérdés radiális és axiális irányban mennyi a holtjáték. Bolygóműves áttétel, lehet precíz is. Az encoder 0.5 fok a kimenőtengelyre nézve nem elég. Cserélni kellene a motor végén mágneses encoderre. Nálam 68000 pulzus jut 360 fokra, lehet ennél kevesebb is elég. A felső sebességhatárt korlátozza a pc parallel port max 5-10 kHz bemeneti határa.

@ElectronDust 8 лет назад

Hello hg5bsd, Can you tell me what exactly "Serial motor resistor" is? I would appreciate an answer very much. greetings from Japan. Tobias

@hg5bsd 8 лет назад

+ Tobias Kuhn This is current limiter to approximately 2 ohms. It is because the initial internal resistance of the motor is only approx. 0.2 ohm

@ElectronDust 8 лет назад

I see. :) Thank you very much!

@ttschabos 8 лет назад

+hg5bsd But then your Resistor consumes about 91% of the Power? The best way to limit the current is to active modulate your PWM signal. So you measure your current over a shunt resistor of about 0.05 Ohm and then remodulate your cycles down if the current limit is reached. I built an electrical go cart based on this principle. This way I can set a limit for the current an so a limit for the power consumption.

@i-make-robots 13 лет назад

how do you get such smooth movement? are your steppers gearing down? I find my delta robot is very "shakey" because of the sudden start/stop between steps.

@BStott 13 лет назад

When will you do more videos of your tests?

@922bibo 8 лет назад

hello, can you please tell me what do you use to get feedback for the speed and position of the motors? thanks

@ahmedgerza1753 3 года назад

what is board you used ?

@i-make-robots 13 лет назад

Where did you get those ball sockets? I would love those for my delta robot!

@rislpro 12 лет назад

hello friend wath is the circuit do you use? i´m interested to reply this machine

@hg5bsd 11 лет назад

Motor típus: Baureihe 0270 (SWMK)

@hg5bsd 11 лет назад

Szia! Budapesten vettem, linkeket beírtam a leírásba. Következő projekthez /Rostock 3d fémből/ megpróbálom az Igubal szögcsuklókat, hasonlóan kedvező áruk

@mesakhhartono5320 9 лет назад

awesome dude..can you tell me how to make a gui for controlling ?

@potci 11 лет назад

Még lenne egy kérdésem. Én is szeretnék egy hasonló típusú robotot építeni. Abban a fázisban vagyok, hogy ki kéne válasszam a motorokat, viszont nem tudom, hogy milyet válasszak (mindenképp servot szeretnék). Az én robotom max 1 kilós tárgyakat kéne emelgessen. Mi a véleményed a következő motorról? w w w.dfrobot.com/index.php?route=product/product&path=47_110&product_id=777#.USj-BPJqO2E Nem lenne a legpontosabb (a dekóder miatt), de elég erős lenne?

@giorgiofoga 8 лет назад

what is your first time calibration method? Very good.

@potci 11 лет назад

A helyzet, hogy nem tudom honnan rendelhetnék. Ezt is Budapesten vetted?

@potci 11 лет назад

Köszi szépen... Bocsi nem néztem a linkeket.

@babeth69 11 лет назад

How dou yo do this control? you have the code, i need you it, thanks for it

@M.SKhan123 Год назад

👍

@huukhai4577 4 года назад

i want g-code ,please

@KurtBleyweert 13 лет назад

what type of laser are you using in your test?

@potci 11 лет назад

Where can I find ball joints like yours?

@carloscardenas9384 9 лет назад

hi, what do you study to do delta robot?

@babeth69 11 лет назад

Hi good afternoon, i make delta robot and i build control and i need help, you could to help me, you could to give kinematic and code of the control for matlab or arduino, thanks

@tuannguyenvan4546 7 лет назад

What is the speed and torque of your motor?

@jesusvaldes3176 10 лет назад

awesome dude!! where did you get the Laser?

@hg5bsd 10 лет назад

Laser diode with fast axis collimator from ebay "You can buy on eBay: "2W/2watt 808nm C-mount Laser Diode/CW Semiconductor Diode/TO3 Sealed w/ FAC Lens" with Square Beam End. or "3W /3watt 808nm Cmount Laser Diode/CW Semiconductor Diode/TO3 sealed w/ FCA Lens" with Square Beam End. Drive electronics homemade. Driver on eBay: "780nm-1064nm Infared Laser Diode TTL Driver w/h Cooling Fans/CC 0.2-2.5A 5V DC" "

@hg5bsd 11 лет назад

Látni kellene ezt a motort, kipróbálni, de egy 256-os encoderrel / négyszerezve 1024/. A videon ez a motor megy, nagyon preciz, kis holtjátékot rugó ellensúlyozza: smolka - berlin de / includes / download _ p d f . php?ID=407 Most kb 12 e/db.

@hg5bsd 11 лет назад

You can buy on eBay: "2W/2watt 808nm C-mount Laser Diode/CW Semiconductor Diode/TO3 Sealed w/ FAC Lens" with Square Beam End. or "3W /3watt 808nm Cmount Laser Diode/CW Semiconductor Diode/TO3 sealed w/ FCA Lens" with Square Beam End. Drive electronics homemade. Driver on eBay: "780nm-1064nm Infared Laser Diode TTL Driver w/h Cooling Fans/CC 0.2-2.5A 5V DC"

@hg5bsd 11 лет назад

Légyszíves írd meg az email címedet, próbálok segíteni

@potci 11 лет назад

p0tky@freemail.hu Köszi szépen előre is.