Switchable kinematics (switchkins) examples

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07 Jun 2021 09:02 - 08 Jun 2021 07:15 #211407 by Aciera
I open this thread as a place to showcase the use of switchable kinematics or 'switchkins' and I would like to invite anybody using it to share their application. While I'm aware that this is likely to be used on more unusual machines I still think that this is opens up a lot of possibilities for the future.

Anybody wondering what I'm on about please see the documentation:
github.com/LinuxCNC/linuxcnc/blob/dgarr/...otion/switchkins.txt

or, if you feel like giving something back to the community, test the current branch and give us your feedback:
forum.linuxcnc.org/38-general-linuxcnc-q...witchable-kinematics


I'll start off with my industrial robot where being able to switch between cartesian and joint kinematics is essential. Without it Linuxcnc is useless for serial manipulators because of limitations in the inverse kinematic :

user-images.githubusercontent.com/460672...e1a-eaa703d26b18.mp4
Last edit: 08 Jun 2021 07:15 by Aciera. Reason: Add information and links, fix expired link to documentation

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07 Jun 2021 09:16 - 07 Jun 2021 09:23 #211408 by Aciera
Here is a simulation of a mill-turn application that I hope to implement on my mill in the future.

While it's possible to create separate configs for milling and turning it is not easily possible to use both inside the same gcode. With switchable kinematics its as easy as inserting an M code.
Please forgive the crudity of the tool visualization in vismach as it is somewhat limited.

user-images.githubusercontent.com/460672...7e5-3feea53609ca.mp4


Example Gcode used:

Warning: Spoiler!


This kinematic has been created using the recently added userkins template:
linuxcnc.org/docs/html/man/man9/userkins.9.html
This template can be used to create switchable and non-switchable kinematics and can be installed like any other component using halcompile.
The kinematic used in the simulation is attached below.

File Attachment:

File Name: swkins.comp
File Size:4 KB
Attachments:
Last edit: 07 Jun 2021 09:23 by Aciera. Reason: Note about kinematics component
The following user(s) said Thank You: phillc54, tommylight

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14 Jul 2021 06:04 #214677 by Becksvill
This looks so cool!.


I got a 6.2 metre travel cnc router I would like to turn into a 5 axis machine and glad to see the kinematics is getting some work
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14 Jul 2021 06:13 - 14 Jul 2021 06:16 #214678 by Aciera
Is that a Biesse?

[edit]
Does is already have a B-axis spindle?
Last edit: 14 Jul 2021 06:16 by Aciera.

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14 Jul 2021 07:48 #214683 by Becksvill
I don't think it has a B axis.

Its a biesse 24xt machine made in 2002

And currently has like 10 spindles I'll strip out.

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16 Jul 2021 12:14 #215030 by andypugh

And currently has like 10 spindles I'll strip out.

LinuxCNC supports up to 8 spindles, and it can be increased by a compile-time constant. 
github.com/LinuxCNC/linuxcnc/blob/2e75b0...tion/emcmotcfg.h#L33
 
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