Spray Robot

[TomKerekes]

Hi Scott,

Very cool! Thanks for sharing.

There should be ways to make the motion smoother if necessary. Maybe just less acceleration or Coordinated Motion Low Pass Filtering.

[CNC_Machines]

Thanks Tom! I will check it out, a lot of the jerkyness has to do with the mechanics. The entire assembly is 3D printed. In order to make a solid connection between the plastic pieces and the gearbox shafts, I 3D printed an adapter out of steel with a key slot. It was my first attempt to print metal and there is a lot of slop in the keyway.

I thought it would be nice to wrap up the post with the final code that I wrote..

[Ibzan]

Hello Tom, greetings.
Regarding that type of graphics, where they were programmed, or how they design. I mean the program where you can see the movements of the mechanism.
Thank you so much.

TeachMotion example was modified to read motor angles from KFLOP and simulate the linkages linkages

rammed, or how they are made.

[TomKerekes]

Hi Ibzam,

There is a C# example called TeachMotion included in the installation. It uses OpenGL graphics. The standard example shows a Tool that moves around as the axes are Jogged. This is plotted in function glControl1_Paint in file Form1.cs. The 'Tool" is represented by a Polygon with 5 vertices.

Unfortunately I can't find the modifications that were made to display the link arms for the Spray Robot. If I locate them (Unlikely) I will post them.

HTH