five-bar / parallel-scara kinematic

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06 Jul 2023 09:30 #274885 by wasweißdenichschon
hi,
my name is Tim i am new here like many others before.... My question may is asked already 100 or more times.
Is there already a five-bar kinematic for linuxcnc or an kinematic which can used for it?
For hours i tried to figure it out but with no result only a video on youtube but with no description.

Thank you very much for your help.

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10 Jul 2023 12:35 #275134 by andypugh
You mean this one?


The video says that the kinematics has been added to LinuxCNC.

And Pentakins is here: github.com/LinuxCNC/linuxcnc/tree/master/src/emc/kinematics

There is some very basic docs here, look for "pentakins"
linuxcnc.org/docs/stable/html/man/man9/kins.9.html

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10 Jul 2023 13:31 #275135 by Aciera
Probably this one:


As far as I am aware there is no simulation config for this but I found this paper that might help you write your own kinematic:

www.etran.rs/2022/zbornik/ICETRAN-22_radovi/079-ROI1.2.pdf

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10 Jul 2023 14:07 #275138 by andypugh
There is a sim config, it's even in 2.8.

sim-axis-pentapod.

github.com/LinuxCNC/linuxcnc/tree/2.8/configs/sim/axis/pentapod

Though there isn't a Vismach model, so I don't know how helpful the config is to understanding the kins.

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10 Jul 2023 17:35 #275146 by Aciera
Yes, there is a sim-config for 'pentapod' but not for 'five-bar / parallel scara'.
At least as far as I know.

Note, a 'pentapod' uses 5 motors while a 'five-bar / parallel scara' only uses two.

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