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One unique approach called Mechanism Hybridization is to embed one serial mechanism inside of a pure parallel mechanism, which greatly changes its overall performance. Based on this idea, an X-Y gantry system including a five-axis hybrid manipulator is developed, which is expected to be applied as the next generation of computer numerical control machine.

parallel kinematic machine tools

I'll try to get everything together here. Wednesday, August 7, Delta robot photos.

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Yesterday I took some photos with the details. Platform Platform joints. Actuator and home sensor. I considered building a delta robot for a long time.

It's well known, but I was interested how rotary actuators work and how fast the robot can actually move. The main problem is rotary actuators stiff enough with high torque. Recently I had a chance to purchase a few small harmonic reducers size 14 with 50W Yaskawa servo motors for a decent price. The reducers have cross roller bearing incorporated, so I just needed to install the reducers to the plate and screw the robot arms to their output plates.

Robot arms and parallelograms were made of light aluminium tubes. The joints consist of steel balls and aluminium sockets. Delta robot control is definitely a job for LinuxCNC.

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Tuning PID and servo drives setting is the most difficult part. It's hard to get oscillation-free positioning with high acceleration. S-curve acceleration would be extremely useful for delta robots, but LinuxCNC does not support it yet, I hope. Saturday, June 8, Parasolid model for hexapod.

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