Let's Make Robots!

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Shani's picture

Hi,

I implement the code given in your references in the MATLAB to find the forward and Inverse Kinematics.
When I did the cross check then I get the wrong results.
First I put the dummy angle in the forward kinematics and get the position, after that I put that position in the Inverse Kinematics but at that time I get the different angles as I put in the forward kinematics before.
Can anyone explain this deviation in the cross check ? ?
Thanks in Advance
Zeeshan

Shani's picture

Hi !

Is there any special condition to make the upper triangular plate always paraller to the base ?

Regardsm

Zeeshan

mogul's picture

The sticks are dual parallel sticks. Thats the beauty of the design . I'm pretty proud of this one: http://letsmakerobots.com/node/27921

I wonder if it would be possible to manufacture a CNC router from a DELTA-bot

aggrav8d's picture

Generally I've only seen Stewart platforms used.  Why stop at 3 axis when you can go for all 6?

Can you post some code? 

aggrav8d's picture

Why a hinge instead of ball bearings?  Is the hinge necessary to keep the platform level?  I've built mockups in Alibre where I can twist the end effector so that it is not level.

Neat robot! That would make a neat and easy to build leg for a biped,just flip it upside down and make the little triangle bigger.

Chris the Carpenter's picture

I found this post quite interesting and found myself on youtube looking at a lot of different versions on this theme. It it indeed true that your 3-point setup will always remain level or parallel with the table? If only one servo is activated, will the top plate tilt?

themaddin's picture

Yes, you are right. The top plate always is parallel with the table even if you move only one servo. The top plate won't tilt.