Wednesday, July 17, 2013
Linear Delta Kinematics
I started working with LinuxCNC when I saw Johann Rocholl's Rostock linear delta printer. Trying to squeeze reverse kinematics for non-Cartesian movements into an AVR seemed like a fools errand to me, so I turned to LinuxCNC, which has pluggable kinematics. But someone has to write those kinematics!
Thanks to Viesturs, I found this awesome video of a linear delta robot controlled by LinuxCNC from back in 2011! Hg5bsd (Jozsef Papp) has provided the lindeltakins.c file used to control his 'bot, and a sketch of the control layout. If you are lucky enough to have a working linear delta mechanism (mine is currently in-progress), you should try out LinuxCNC with these kinematics and see how it works for you!