Tweak your robot dimensions and see how it will affect your work envelope and your precision. Then adjust your motor angles (thetas) or your tool position (XYZ) and see that the forward and inverse kinematics match.
We've used this program to design our delta robots.
|Base radius (f)||mm||Distance from center of machine base to center of each motor shaft|
|Bicep length (rf)||mm||Distance from motor shaft to elbow|
|Forearm length (re)||mm||Distrance from elbow to the wrist|
|End Effector radius (e)||mm||Distance from wrists to the center of the hand|
|Steps per turn||The motor precision|
|Rectangular cuboid envelope||How big a box can the end effector reach? (end effector can actually move more than this)|
|motor angle limits||How must the motors turn to move throughout the rectangular cuboid?|
|Center||Where is the middle of the envelope relative to the base (0,0,0)?|
|Resolution||How precise can the movements be?|
Forward Kinematics: Change motor angles to see new XYZ position.
Inverse Kinematics: Change XYZ to see new angles.
0 degrees is when the bicep is horizontal to the floor.
Original equations from Trossen Robotics Forums
© Marginally Clever Software 2012