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How to edit a source code of a tripod ?

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05 Sep 2019 21:32 #144280 by Mohamed
How to edit a source code of a tripod ? was created by Mohamed
I'm currently working on a hyprid cnc where it has a tripod with 2DOF serial arm at it's end, the problem is how to configure the kinematics inside linuxcnc in order to move the machine right ?

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05 Sep 2019 23:40 #144295 by andypugh
Replied by andypugh on topic How to edit a source code of a tripod ?
I think you would need to write a custom kinematics module.

Have you read this?

linuxcnc.org/docs/2.8/html/motion/kinematics.html

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06 Sep 2019 09:06 #144346 by Mohamed
Replied by Mohamed on topic How to edit a source code of a tripod ?
Yes i have Andy, but still don't know how to implement this code and configure it like a typical X Y Z CNC, what it is written in ? how to define other parameters like lead screw lead ? these details i can't figure it out by my self so, if there is any example from A to Z on how to make even any parallel robot ....i will be so glad

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06 Sep 2019 12:09 #144371 by andypugh
Replied by andypugh on topic How to edit a source code of a tripod ?
Kinematics files are written in C.

Have you at least figured out the maths?

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08 Sep 2019 11:05 #144509 by Mohamed
Replied by Mohamed on topic How to edit a source code of a tripod ?
yes it will be something like that
link.springer.com/chapter/10.1007/978-3-319-60702-3_13
but i don't know where do i write these eqns.
i recently saw something called Vismach, it's used to import a cad model of the robot but i still can't see how to do that exactly? i saw some pages on linuxcnc forum but i didn't help me ...

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08 Sep 2019 11:18 #144511 by andypugh
Replied by andypugh on topic How to edit a source code of a tripod ?

yes it will be something like that
link.springer.com/chapter/10.1007/978-3-319-60702-3_13
but i don't know where do i write these eqns.


The equations go in the Kinematics file. Converted in to C.

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08 Sep 2019 11:41 - 08 Sep 2019 11:42 #144512 by Mohamed
Replied by Mohamed on topic How to edit a source code of a tripod ?
How can i find the C file for my tripod or the kinematics file ?
Last edit: 08 Sep 2019 11:42 by Mohamed.

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08 Sep 2019 12:11 #144516 by andypugh
Replied by andypugh on topic How to edit a source code of a tripod ?
The Kinematics file is a C file. You need to write it, following the guidance in the documentation I linked to earlier.
The following user(s) said Thank You: Mohamed

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08 Sep 2019 12:39 #144518 by Mohamed
Replied by Mohamed on topic How to edit a source code of a tripod ?
ok after that how can i run the file, and how can i link it with vismach, do i need .ini file or .hal file?

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08 Sep 2019 15:27 - 08 Sep 2019 15:30 #144531 by pl7i92
Replied by pl7i92 on topic How to edit a source code of a tripod ?
yes you do need the 3Joints
all rotary
the hal file is only to reconect to the POS feedback see a SIM File of your choice
PREFERD sample-configs/sim/tklinuxcnc/tripod.ini
this uses the tripod kinetics
Last edit: 08 Sep 2019 15:30 by pl7i92.
The following user(s) said Thank You: Mohamed

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  1. Configuring LinuxCNC
  3. Advanced Configuration
  5. How to edit a source code of a tripod ?
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