Scara Arm Config

Controllers Smoothie
1

Hi

I have just ordered the 5 axis SmoothieBoard to try out with a new Scara Arm we have designed, well we are actually on MK3 of it now ! .

The MK3 uses 50:1 harmonic drives and having read every article on Inverse Kinematics, we managed to implement them in to a embedded solution that works well for the pick and place style work, but getting the interpolation right to draw a straight line with planning is a nightmare.

But looks like the nightmare may be over, after discovering the Smoothie !
Great job by the looks of it and well done guys

I have read through most of the documents, but cannot find a config for a basic 2 arm Scara.

Is there any examples available or do you simply set the arm dimensions with the length of each arm in a Mcode command or in the config?

Cheers

Sean.

Imported from wikidot

2

Hi !

We don’t currently have an arm solution for Scara, however, implementing one is quite simple if you have the math.
You basically just write a new arm solution in Smoothie.
Here is the basic template : https://github.com/Smoothieware/Smoothieware/blob/edge/src/modules/robot/arm_solutions/CartesianSolution.cpp
Here is a simple example of an implemented one ( H-bot ) : https://github.com/Smoothieware/Smoothieware/blob/edge/src/modules/robot/arm_solutions/HBotSolution.cpp

Tell me if you need any help.

Cheers :slight_smile:

3

Thanks Arthur

Will go check it out.

Cheers

Sean.