Kinematic model for a 5axis mill with universal (45° nutating) head

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14 May 2023 08:01 - 14 May 2023 10:39 #271334 by Aciera
This is from work I've been doing to derive a kinematic model for a milling machine with a 45° nutating head like this one:




Notes:
1. TCP kinematic works
2. TOOL kinematics work also but there are some quirks that I have not been able to figure out. Like an odd behavior when issuing an incremental move immediately after switching to tool kinematics.
3. The attempted implementation of 'Tilted Work Plane' GCode is still rather experimental and would need a fair bit more work.
4. The config requires a custom vismach.py file for visualisation.
5. This kinematics requires version 2.10pre (ie master)
6. Documentation is included in the config folder as an html document.
 

 

File Attachment:

File Name: spindle-ro...g.tar.gz
File Size:218 KB

Maybe somebody finds this useful
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Last edit: 14 May 2023 10:39 by Aciera. Reason: fix html and delete hidden swap files.
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27 Jun 2023 08:55 #274301 by grandixximo
This is coolest thing i've seen in a while, I'll have to study the configuration, congratulations man, looks amazing!
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27 Jun 2023 14:40 #274307 by Aciera

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27 Jun 2023 14:49 - 27 Jun 2023 15:10 #274308 by Aciera
Last edit: 27 Jun 2023 15:10 by Aciera.
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