This is based on an open-source design by Tyler Williams which implements inverse kinematics on the G-codes generated for normal cartesian systems. The “MORGAN_SCARA” is for parallel SCARA robot and the “MP_SCARA” is for serial SCARA robot, just like the one we have. # define SCARA_OFFSET_X 300 // (mm) # define SCARA_OFFSET_Y 150 // (mm) Code language: Arduino ( arduino ) # define SCARA_LINKAGE_1 228.15 // Arm 1 lenght - 228(mm) # define SCARA_LINKAGE_2 136.2 // Arm 2 lenght - 136.5(mm) // SCARA tower offset (position of Tower relative to bed zero position) // This needs to be reasonably accurate as it defines the printbed position in the SCARA space. */ # define MP_SCARA # if EITHER(MORGAN_SCARA, MP_SCARA) // If movement is choppy try lowering this value # define SCARA_SEGMENTS_PER_SECOND 100 // Length of inner and outer support arms. * Mostly Printed SCARA is an open source design by Tyler Williams. * Implemented and slightly reworked by JCERNY in June, 2014. ![]() * MORGAN_SCARA was developed by QHARLEY in South Africa in 2012-2013. Once I connected everything as explained, I squeezed a little bit the wires and covered electronics so that everything looks nice and clean. As an Amazon Associate I earn from qualifying purchases.Īs for the mechanical components, you can check the original article. Amazon / Banggod / AliExpressĭisclosure: These are affiliate links. Laser Module ………………………………… Amazon / Banggood / AliExpress.Arduino MEGA………………….….……… Amazon / Banggood / AliExpress. ![]()
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