Tripteron printing Eve 2016-11-26 | Maiden voyage complete!40mm/s @ 200mm/s^2 accel. Still have lots of work to do, but it's a start. And none of that matters right this moment...Because it's printing! :Dhttp://www.thingiverse.com/thing:1903757 for tons of detail and links to more info
3PRRU(R) 5-Axis Hybrid Parallel Robot Mechanism Eve 2022-04-26 | This is a mockup of a 5-axis variation of a 3RRR 3-axis design, with the shoulders on prismatic rails, and the wrists made of universal joints and coaxial effector. Actuation is done on the shoulders only, with both linear for Z and angular for XY. The differential Z inputs control the roll and pitch angles of the effector, resulting in 5-axis control.
Triple Scara Mockup Eve 2022-04-18 | Testing a coaxial effector for the double-shear 3RR(R) planar-parallel gantry I’m building
Tripteron Mini Printing Eve 2022-04-10 | Little sendoff video for this build. It's the nicest version so far of this motion system I've built, but it's still not quite good enough for my goals. Before I tear it down for a future redesign, I wanted to make a short video of it in flight.Thanks for following along :)
Tripteron Mini Homing/Probing/Motion Eve 2022-03-24 | I got sensorless homing and my old infrared probe setup, so I can home and probe and take mesh measurements. Decided to do some 3-axis spirals as a demonstration.And yes, I know the rails need grease, I swap them around too much to use grease until I'm more set on a design, so oil works in the short term :)
Tripteron Mini XYZ Motion Eve 2022-03-16 | Got the prototype motion system completed, so I took some video of testing XYZ moves in various combinations. You can also hear one of our cats asking what's going on :)Controller: SKR v2 with RRF port (v3.3)Motors: 1.8deg NEMA 17 @ 500mAZ screw: Tr8x8 (8mm dia, 2mm pitch, 4 starts = 8mm lead)More to come!
Tripteron Mini 6804/6802 Eve 2022-03-13 | Mixing different ring bearing sizes to optimize weight/size/strength balance. This one is using 6804 bearings in the shoulders and elbows, and 6802s in the wrists/effector.
Tripteron Mini Gamma work-in-progress Eve 2022-03-04 | Exploring using 6806/6804 bearings in much chunkier joints
Tripteron Mini Beta Gantry Test Eve 2022-02-27 | Testing second design iteration of gantry with actual assembly.
Mini Tripteron Eve 2022-02-24 | Working on a prototype build of a compact, Cartesian, orthogonal Tripteron 3D printer.
Ymir Flying Parallel Quadrap Eve 2022-02-02 | Work in progress mockup of a 3-axis parallel flying-quadrap design based on my Mir design, which I am calling Ymir.
Quadrap Work In Progress Eve 2021-03-28 | Been working on a Cartesian kinematic Quadrap with belted Z for a while, which I am in the process of building. Figured I'd upload a CAD overview to share, since it's mostly complete now.As modeled, specs are:- 340mm^3 frame outside dimensions (300mm profiles)- 235x235x250ish build volume- 5 motors -- 1 X, 1 Y, 2 Z, 1 E- SKR or Duet 3 Mini 5 or similar board- X, Y, and/or Z drive rods can use larger pulleys if desired, for higher resolution- Z is 2:1 (40tooth:20tooth) in the model- Belt loops are 200mm/100tooth and 600mm/300 tooth GT2.- The 600mm belt loops are 280mm center to center with 20T pulleys, which is what the XYZ rod pair spacing is based on.Rods:- All 8mm diameter- 4 x 300mm vertical Z rods- 4 x 350mm passive rods- 4 x 370mm drive rods- 12 totalPulleys:- 2 per passive rod = 8- 3 per drive rod = 12- 20 total
2040 Tripteron Alpha Eve 2021-02-17 | Idea for compact joint system for tripteron using end-tapped 2040 extrusion and M8 bolts through a combination of radial and axial bearings in single-shear mates.
Differentially Actuated 4PRR(R) Parallel 3 Axis Gantry Eve 2021-01-04 | Variation on a 3RRR planar manipulator, with the shoulders mounted on leadscrew nuts, and wrists attached coaxially together. This allows for actuation in XY via rotating shoulders directly, and Z when pushing/pulling all shoulders at the same time. Unlike offset wrist 3RRRs, coaxial wrist allows for push/pull on all shoulders to lock all arms, which provides the resistance needed for differential Z behavior.
Tripteron 2021 Eve 2021-01-04 | Rough mockup of a build in progress. This will be a real working printer, with updated design and parts.
Spherical Anti-Twist Wrist Eve 2019-11-10 | Mocking up ideas for simple linkages for 2 DOF wrist with hollow central path for wiring/filament while maintaining anti-twist. Ring joints are fixed to base axle, actuation not shown.
Parallel Spherical 2 DOF Wrist with Anti-Twist Eve 2019-11-04 | I figured out a way to use a double U-joint to build a parallel spherical wrist providing 2 DOF (azimuth/yaw and elevation/tilt), using 2 coaxial inputs. The U-joint is fixed to the axle the drive gear and yoke rotate on, and the angles on the U-joint joints only reach 45º maximum. This arrangement allows the effector to spin opposite the yoke (yaw), preventing wires connecting to the effector from twisting during continuous yaw rotations.
2 DOF Rolling Wrist With Yaw Compensation Eve 2019-11-01 | Based on HATTS project from Stanford: https://web.stanford.edu/group/OTL/lagan/11496/file1.pdf
5 DOF Cantilever Delta Beta Eve 2019-10-16 | Making progress towards non-planar cantilever delta. Testing out joint options.
DiffBot First Moves Eve 2019-09-28 | Got my DiffBot prototype completed and moving under power for the first time!For more details on the design, see github.com/Apsu/DiffBotMore video coming soon.
DRV8825 vs TMC2660 Eve 2016-12-24 | Just a quick worst-case test with a dBa meter on top of the motors, directly on top of a wooden table. First is the DRV8825 in each scenario. I didn't try to match accel, just the same feed speeds and distances for each test.
Delteron Round Two Eve 2016-12-16 | Second arm assembly design. Small amount of backlash still present, but overall behavior has improved.
Colinear Tripteron First Steps Eve 2016-12-05 | Ok! First draft complete and moving. IK/FK seems to be working correctly, got some slight cogging I believe is due to the bearing shields being too flush, will probably have to remove them. I also think I need to tweak the jerk/junction deviation in Smoothieware a bit, as I think that's why it slows down in the corners a smidge.Plenty more refinement to do, and other arm angles to try, but IT MOVES!
Colinear Motion Study 3 Eve 2016-12-01 | This time with 20 deg arm angle, rendered prebuilt motion, and the outer arm links jointed on top of the inner to reduce build-volume interference at certain locations.
Colinear Tripteron Motion Study Eve 2016-11-27 | Testing a mockup of one of the other Tripteron configurations, very similar to a Linear Delta, except with similar Cartesian benefits(!)There's a mechanical reduction factor based on the shoulder/wrist joint angle, but the actuation is entirely linear. Meaning no trig to calculate arm angles in order to position the platform. Which also means no loss of precision within the volume.It also means potentially much lighter arms and much weaker joints would work great, because the arms/platform each share the weight of the mechanism
Tripteron RC1 Drawing Eve 2016-11-24 | She lives!This was just a basic attempt at seeing what kind of accuracy range I was in, on a non-flat board on a non-flat box, yet the resulting positioning is quite decent. Not bad for a first pass.
