tripod for miling

[Carsten]

I have made an video of the tripod I was building at home.



for the successful implementation of this project the powerfull KFLOP
was of great importance.
Thank you DYNOMOTION

[TomKerekes]

Hi Carsten,

That is great work and super impressive!

Did you use KMotion Kinematics? Are you willing to share the Kinematics class you used?

[Carsten]

hi Tom,
I'm just trying to remember. We had have email contact in may 2015.
You wrote to me, that I have to recompile the gcodeinterpreter.
I think I´v made changes only to kinematics3rod.c.

[TomKerekes]

Hi Carsten,

That looks like it.

Thanks!

[Carsten]

for better understanding two more files

[TomKerekes]

Nice illustration that really helps.

I'm curious. It seems the equations assume the mechanics are perfect. Motors mounted in perfect positions, guide rails perfectly parallel to z, link rods perfect length, etc. Do you have any idea what type of accuracy is achieved? Have you considered any further calibrations?

[Carsten]

Well recognized Tom.
There are no geo compensation. For non linear systems it could be difficult to realize.
Therefor all parts was made on a Hermle C400 industrial milling machine.
The overall accuracy off the Tripods working space is better 0.05mm.
Dependent on travel distances I have made parts with 0.01mm tollerance.
The main reason for me to construct an build this machine was the the fascination
for nonlinare systems.

[CNC_Machines]

This is very cool! I am curious about how to determine the usable machining envelope for such a machine. It appears that the rod lengths are 300mm, as you approach that distance in X or Y it seems that the arm one arm would be laying flat and the other two close to vertical. In that case we would lose a lot of accuracy.

Did you try to follow any rules? Maybe something like R1=1.25 X machining diameter?

Very impressive!

Scott