A 3D Printing desktop arm that can write and draw!!!
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To dowmload the flies in github :https://github.com/QiayuanLiao/DArm
Include Arduino source code , solidworks design flies.
And you can download the .STL files in thingiverse: https://www.thingiverse.com/thing:1204552
Control it use the G-Code just like a 3DPrinter!!!
You can use some software to turn the test or images to the G-Code.
Cool, that makes it very useful and even more interesting ! Will have a look on it in more detail. Do you have a homing or calibration sequence?
I mean, somehow you have to tell it the initial position/angles.
well ,I think the 3 axis forward or inverse kinematics is quite simple so I didn't write dowm it , just see code ! Or calculate by yourself ,just use some high school mathematics like Polar coordinates. When we calculate degrees of freedom above 3 axes, we need to use linear algebra and some advanced mathematics.For me (I am a high school student ) is quite difficult but now I grasp the 6 axis robotics arm forword/inverse kinematics.
Indeed, for 3 axis that´s easy. Already calculated it some time ago....But i mean, before letting it run, you must tell the arm its exact position. How do you get that exact coordinates and how do you "store" them?
This program is base on marlin framwork,and the marlin framwork is use on the 3Dprinter .In other words, this robotic arm work like a 3Dprinter, the G-Code which tell arm move to some position was created in PC, when it start writing or drawing, the PC software send the G-Code thought serial port to the arm. The G-Code can be store in SD card too and read when writing.
Thanks for your reply...sorry for asking again, I´m just interested and it´s not fully clear to me yet.
....the use of Marlin and g-code compatibility is clear, you already said kinematics is implemented (where can I find it in code?).
Nevertheless, upon start the arm needs knowledge about its actual coordinates because kinematics depends strongly on them. How to get them? Do you have endstop switches which you have to trigger before start?
I think I found you youtube video and it works very, very well.
You can see the kinematics code inMarlin_main.cpp (there have many different type of 3Dprinter's algorithm), of course we have trigger. When use G28 to go home and get the actual coordinates .
liaoqiayuan
Degen
Shari
Hi, do you have the inverse kinematics implemented ??