NAME

       lineardeltakins - Kinematics for a linear delta robot

SYNOPSIS

       loadrt lineardeltakins

KINEMATICS

       The  kinematics  model  is appropriate for a rostock/kossel-style design with three joints arranged in an
       equilateral triangle.  (0,0) is always the center of the  working  volume.   Joint  0  is  at  (0,R)  and
       subsequent  joints  are  120 degrees clockwise (note that joint 0 is not at zero radians).  The length of
       the arm is L.

       Joints 0-2 are the linear carriages.  Axes ABC and UVW are passed through unchanged  in  joints  3-8,  so
       that e.g., A can still be used to control an extruder.

PINS

       lineardeltakins.R float in
              Effective diameter of the platform.

              R  is  different  than  the distance from the center of the table to the center of the belt/smooth
              rod/extrusion that the joints ride on.  In RepRap delta  parlance,  R  is  DELTA_RADIUS  which  is
              computed as

              DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET.

       lineardeltakins.L float in
              Length  of  the  rod  connecting  the  carriage  to  the effector.  In RepRap delta parlance, L is
              DELTA_DIAGONAL_ROD.

NOTES

       The R and L values can be adjusted while LinuxCNC is running.  However, doing  so  while  in  coordinated
       mode  will  lead to a step change in joint position, which generally will trigger a following error if in
       joint mode with machine on.

LinuxCNC Documentation                             2013-07-11                                 LINEARDELTAKINS(9)