Re: [CAD_CAM_EDM_DRO] Re: Open (i think) design for a parallel robot (reprap may be interested)

Arms have transforms that are full of singularities. In order to get an xyz,
you must translate that into joint positions. There are multiple solutions
and linear movements can go through singularities (named for the math), so
path planners need to avoid them. The math isn't supposed to be so
unforgiving for parallel machines, though. According to my reading, anyway.

On 8/28/06, R Rogers <rogersmach@...> wrote:
>
> Dennis,
>
> What about an articulating arm? I've even thought about this for a
> machine tool. It would need to be massive (within reason 800-1000 pounds), I
> have some 2 hp servos already. Would be nice to mount a router on it. Could
> turn any large flat surface into a machine. Pick up three points from the
> plane to reference.
>
> Would retract up tightly for storage and take up very little room. The
> perfect homeshop solution to wood cutting/shaping.
>
> There are so many of these in use, and just as cartesian CNC found its
> way, I think this technology could find its way as well into the hobbyist'
> realm. By now there has to be some open source robotic design software
> somehwere. Or cheap anyway. Mach could handle the 4 or 5 axis' of movement.
>
> Ron
>
> Dennis Schmitz <denschmitz@...> wrote:
> I was only thinking of the 3dof machines for the glue-gun
> application as
> opposed to the 6dof stewart platforms. As near as I can tell, the
> transforms
> for those don't have singularities, but I could be mistaken.
>
>


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