Mitsubishi RV-6SDL Switchkins-config with simulation

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25 Feb 2020 15:49 - 31 Mar 2020 07:30 #158467 by Aciera
Thought I share my config of a 6-axis Mitsubishi RV-6SDL using switchkins (genserkins/trivkins) kinematics by dgarrett.



Anybody who wants to have a try needs to build the Switchkins branch of LinuxCNC: www.panix.com/~dgarrett/stuff/s_kins_guide.txt

Try loading "welding.ngc" and make sure to Touch Off at Homeposition to X0 Y0 Z100 A0 B0 C0

File Attachment:

File Name: RV-3SDL-sim_1.zip
File Size:1,352 KB

File Attachment:

File Name: RV-3SDL-sim_2.zip
File Size:1,205 KB

File Attachment:

File Name: RV-6SDL-si...3-07.zip
File Size:18 KB


This is just a simulation as yet. But I have the arm here and if the guys at STMBL Drives come through with an interface to these absolute encoders it should actually turn into a real thing.

Here is a document on how I derived the DH-Parameters and how to put these in the relevant Hal pins:

This browser does not support PDFs. Please download the PDF to view it: Download PDF



I hope some of you may find it interesting.
Attachments:
Last edit: 31 Mar 2020 07:30 by Aciera. Reason: Updated the files, edited DH-parameter documentation
The following user(s) said Thank You: andypugh, PKM, tommylight, Cynas, bbsr_5a

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27 Feb 2020 12:35 #158625 by bbsr_5a
Well done Sir you shoudt have colored the Joints in different so it is a better view in Behavior

and if you HAVE Blender3D reduce the Triangle STL to a absolute minimum

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07 Mar 2020 09:33 #159391 by Aciera
Added G91.2 xyzabc for incremental moves in Tool-Coordinate System.
Added G91.3 xyzabc for incremental xyz-moves in Tool-CS / abc in World-CS

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