Help with linear delta robot kinematics

I am building a linear delta robot which I plan on controlling with EMC2. I have seen a number of examples of linear delta robots online that are controlled by EMC2 like this one (), but I haven't been able to find any examples of the kinematic code. I have found kinematic samples for normal? delta robots (three arms instead of three slides). I'm a good with mechanics and I can work out the equations, but I'm lost when it comes to code. Anyone have kinematic code for a linear delta robot that I can use? Thanks!

-Matt

Solution found thanks to hg5bsd. Not sure on the legal level if I can post the code here, but if you contact him on youtube he is very helpful.

Hi Matt,

Very nice project. Any link to your's?

I'm very interested in such robot, for a reprap/milling bot. I first planed to make a classique deltabot, with angular movements, but it is very complex to make something strong (without lash), and with enough accuracy. Linear mouvements are better for this point of view.

I don't have any youtube account; could you ask hg5bsd if he could share his code? Did you check if there is some license mention in his files?

Thanks,

Hi Matt or hg5bsd

besides this thread is pretty old i'm intressted in its solution too.

Because i want to test a Rostock 3D printer mechanic with linuxcnc and i think this must be the same kinematic task as you have searched for?

Any help is appreciated.

Thanks

Ralf

the details can be found here
kvarc.extra.hu/step/motor/emc/emckinematics.html

thanks for the link that i already found and i have asked here because i think this must be a solution for the "nonlinear" delta kinematics but im looking for the linear type.

Hopefully someone can tell if i am right?


Ralf