Switchable kinematics (switchkins) examples

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5 years 4 months ago #211407 by Aciera
Switchable kinematics (switchkins) examples was created 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

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5 years 4 months ago #211408 by Aciera
Replied by Aciera on topic Switchable kinematics (switchkins) examples
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.

Attachment not found

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5 years 3 months ago #214677 by Becksvill
Replied by Becksvill on topic Switchable kinematics (switchkins) examples
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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5 years 3 months ago #214678 by Aciera
Replied by Aciera on topic Switchable kinematics (switchkins) examples
Is that a Biesse?

[edit]
Does is already have a B-axis spindle?

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5 years 3 months ago #214683 by Becksvill
Replied by Becksvill on topic Switchable kinematics (switchkins) examples
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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5 years 3 months ago #215030 by andypugh
Replied by andypugh on topic Switchable kinematics (switchkins) examples

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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5 years 2 months ago #218049 by Becksvill
Replied by Becksvill on topic Switchable kinematics (switchkins) examples
Aciera

I have taken this machine apart now and started to get it all working.

the machine does have a b axis on the spindle not sure what I will use it for but i guess that a saw blade might be good.

i am pretty keen to set up a 4th axis and rotating spindle for 5 axis stuff on this big machine. and switchable kinematics is a must i think. lots of learning to do. hopefully i will get time to set up the machine as a 3 axis machine first in the next couple of weeks and then i can have a play with cooler stuff after that

regards

Andrew

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5 years 2 months ago #218053 by Aciera
Replied by Aciera on topic Switchable kinematics (switchkins) examples
Is it a motorized b axis or indexed? If it can hold a mill bit you can do all kinds of handy stuff with it.

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5 years 2 months ago #218056 by Becksvill
Replied by Becksvill on topic Switchable kinematics (switchkins) examples
its motorised

it has a 400w yaskawa servo drive on it to rotate it.  what kind of attachments do they normally run? 

i am having trouble working out how it was supposed to be used

 

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5 years 2 months ago #218058 by Aciera
Replied by Aciera on topic Switchable kinematics (switchkins) examples
 

Attachment not found



Also simple things like dowel holes or cutouts into slanted or vertical surfaces. And of course cutting miter joints with a saw blade. Doorlocks, hinges, lots of stuff. With 5 axis TCP and switchable kinematics the uses are very varied.

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