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Bipod Kinematics

It's a 2-axes version of a hexapod (surprisingly called a bipod).

The bipod kinematics was implemented as descibed in chapter "Non-trivial kinematics" in the Integrator Manual: https://gist.github.com/koppi/1568212

In configs/bipod_stepper.hal we added the lines:

 loadrt bipodkins
 setp bipodkins.Bx 1220

where "1220" is the space in mm between the two motor axes.

Photos

The next three photos show the bipod plotting the Inkscape drawing [Month, Day, Weekday, Day/Night, Hour, Minute, Second] by Tavmjong Bah:

upload:koppis-toy-01.jpg

upload:koppis-toy-02.jpg

upload:koppis-toy-07.jpg

The Z axis of the bipod:

upload:koppis-toy-03.jpg

The timing belt and the second axis joint.

upload:koppis-toy-p1010008_1.jpg

The IBM Thinkpad X30 connects to the stepper motor drivers via its parallel port:

upload:koppis-toy-04.jpg

Screenshots

The software cam.py was used to trace the paths of the drawing and create the ngc file:

upload:koppis-toy-06.jpg

The AXIS GUI:

upload:koppis-toy-05.jpg

Tools and inspiration:

[Inkscape] and a patched version of cam.py were used to create the ngc file.

With the use of EMC2 and the bipod kinematics applied the machine moves XY (in carthesian space) just fine. The machine was inspired by Alex Joni's Toy and by the work of [Jürg Lehni and Uli Franke]. Over time several people around the world enjoyed creating their own incarnation of hektor:

 * Vic Aprea and Paul Grzymkowski: http://instruct1.cit.cornell.edu/courses/ee476/FinalProjects/s2001/vp2/
 * Casey Canfield, Roland Crosby, Jessi Murray and Hermes Taylor: http://rolocroz.com/wallrus/
 * Miguel Sánchez: http://fightpc.blogspot.com/2008/02/vertical-plotter-article.html
 * Romado12187: http://spritesmods.com/?art=whiteboard&f=had
 * Jan Van Gilsen: http://www.youtube.com/watch?v=WdSAGfyygMs

Contact:

https://github.com/koppi


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Last edited January 11, 2014 3:57 am by Koppi (diff)
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