Re: Tripod

--- In CAD_CAM_EDM_DRO@yahoogroups.com, "Michael Fagan"
<woodworker88@...> wrote:

>
> You should try finding some information about programming a Hexapod,

which

> is like what you describe except 6DOF (well, at least 6 motors, not

sure if

> that would count as 6DOF in this case).
> Michael
>

What tends to happen is you find a lot of really confusing matrices,
this is totally sensible because it allows very generalized maths but
not always needed. Check out my pager here:

http://www.indoor.flyer.co.uk/kinematics.htm

My bottom lines are this:

1. You don't need matrices, you can use Pythagoras for most slide
based machines or variable length strut machines and trig for deltas.
2. Consider starting with lower DOFs.
3. You can use Mach3 to drive the machine using equations.

Graham