Kinematic model for a 5axis mill with universal (45° nutating) head
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.
Maybe somebody finds this useful
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.
Maybe somebody finds this useful
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