Simpson arm solution for Smoothieware/Smoothieboard

Simpson arm solution for Smoothieware/Smoothieboard

Postby imrahil » Fri Nov 28, 2014 11:43 pm

Hi,
I just added Simpson arm solution for Smoothieware which is firmware for 32-bits controller Smoothieboard.

https://github.com/imrahil/Smoothieware ... US_Simpson

this file is crucial :)
https://github.com/imrahil/Smoothieware ... lution.cpp

I was based on code from user niggle - https://github.com/Fiacha/GUS_Marlin - thanks!

Anyone who have this board and want to help with testing? :)
imrahil
 
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Re: Simpson arm solution for Smoothieware/Smoothieboard

Postby Viproz » Sun Nov 30, 2014 10:17 am

Awesome, I was already thinking about buying this board to build my Simpson now I'll definitely will !

I will be happy to help testing as soon as I have my printer ;)
Viproz
 
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Re: Simpson arm solution for Smoothieware/Smoothieboard

Postby imrahil » Sun Nov 30, 2014 11:08 pm

ok! my math sucks :) method "actuator_to_cartesian" is completely wrong!
imrahil
 
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Re: Simpson arm solution for Smoothieware/Smoothieboard

Postby Viproz » Mon Dec 01, 2014 7:12 pm

Okay I did some math with the (0, 0) point in the center, I find :

x=(r1²-r2²)/(4*SIMPSON_ARM2_X)

I'm gonna do the rest after eating and I'll do a PR on github
Viproz
 
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Re: Simpson arm solution for Smoothieware/Smoothieboard

Postby Viproz » Mon Dec 01, 2014 8:46 pm

I think I got it, PR coming.

Okay so a bit of explanation to have a trace of it and to correct me if I'm wrong

So the (0, 0) is in the center of the bed.

Here I'll name P1x the X coord of the first arm on the bed according to that (sorry for the bad quality) :
C360_2014-12-01-21-34-59-834.jpg
C360_2014-12-01-21-34-59-834.jpg (838.5 KiB) Viewed 14813 times


We have 3 equations :
r1²=(x-P1x)²+(y-P1y)²+z²
r2²=(x-P2x)²+(y-P2y)²+z²
r3²=(x-P3x)²+(y-P3y)²+z²

The results I found :
x = (r1² - r2²) / (4*P2x)
y = (2*x*P2x + r2² - r3²) / (-2*P2y + 2*P3y)
z = sqrt(r3² - x² - (y - P3y)²)

The math verification :
Equations.png
Equations.png (28.48 KiB) Viewed 14813 times


I hope it's right ;)
Viproz
 
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Re: Simpson arm solution for Smoothieware/Smoothieboard

Postby imrahil » Mon Dec 01, 2014 9:24 pm

I just resolved this equations by myself :)
Unfortunately I think that your version isn't correct.

I created spreadsheet with all calculations - you can check how it's calculated
https://www.dropbox.com/s/26epkc3ifwaag ... m.ods?dl=0
imrahil
 
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Re: Simpson arm solution for Smoothieware/Smoothieboard

Postby Viproz » Mon Dec 01, 2014 9:49 pm

Oh yeah indeed I forgot all the max_arm_length_x and shoulder_height_x, should have looked into the cartesian_to_actuator before :D
Viproz
 
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