6x6 Stewart (Parallel Kinematic Machine Tool)

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10 years 7 months ago #71020 by ommar
Replied by ommar on topic 6x6 Stewart (Parallel Kinematic Machine Tool)
Hi again,

I purchased all of the hardware components. Now, i want to control the machine tool. Where should i start ? I installed 2.6 version of linuxcnc on the debian.

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10 years 7 months ago #71021 by andypugh
Replied by andypugh on topic 6x6 Stewart (Parallel Kinematic Machine Tool)
Before trying to use hardware, and because a Stewart platform can break itself, get familiar with LinuCNC and the simulated hexapod.

Start the LinuxCNC config picker and select sim->axis->vismach->hexapod-sim

Instructions are visible in the config picker, but also here:
github.com/LinuxCNC/linuxcnc/tree/master.../vismach/hexapod-sim

What hardware do you have?

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10 years 7 months ago #71023 by ommar
Replied by ommar on topic 6x6 Stewart (Parallel Kinematic Machine Tool)
I have;

6 stepper motor
6 stepper motor driver
6 encoder
1 spindle
Mesa 7i76 and 7i78 daughter cards
Mesa 6i25 motion control card (Pci-E)

I saw solid hexapod but my construction does not like this. Can i edit it ? My joints orientation is equal angle around the circle (60 degree).

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10 years 7 months ago #71025 by andypugh
Replied by andypugh on topic 6x6 Stewart (Parallel Kinematic Machine Tool)

ommar wrote: I saw solid hexapod but my construction does not like this. Can i edit it ? My joints orientation is equal angle around the circle (60 degree).


If you read the comments in genhexkins
github.com/LinuxCNC/linuxcnc/blob/master...ematics/genhexkins.c

You just need to "setp" the XY coordinates of the joint attachments in the HAL file.

I _assume_ that the joint lengths are assumed to be scaled correctly in HAL.

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10 years 7 months ago #71026 by ommar
Replied by ommar on topic 6x6 Stewart (Parallel Kinematic Machine Tool)
Thank you. I will study the documents. Lastly, will i use Linuxcnc interface (Pncconf and stepconf wizard) ? Otherwise is that documents enough to control ?

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10 years 7 months ago #71027 by andypugh
Replied by andypugh on topic 6x6 Stewart (Parallel Kinematic Machine Tool)
Pncconf will get you close, but you will need to hand-edit some files (I don't think pncconf knows about genhexkins).

If you create a 6-axis config in Pncconf then compare the HAL and INI files with the sim config you should be able to make the necessary changes.

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10 years 7 months ago #71628 by ommar
Replied by ommar on topic 6x6 Stewart (Parallel Kinematic Machine Tool)
linuxcnc/src directory none available so i can not edit genhexkins file. What must i do ?

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10 years 7 months ago #71659 by andypugh
Replied by andypugh on topic 6x6 Stewart (Parallel Kinematic Machine Tool)
You shouldn't need to edit genhexkins, it is a general kinematics.

You can set the coordinates using HAL parameters:

Open a terminal window
Code:
halrun loadrt genhexkins show param exit

Will give you a list of the dimensions. You can then add "setp" lines for each value in you HAL file.
(somwhere after the loadrt genhexkins line)

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10 years 7 months ago #72132 by ommar
Replied by ommar on topic 6x6 Stewart (Parallel Kinematic Machine Tool)
No. It is not give me a list of dimensions. Terminal print as follows;

Code:
root@debian:/home/egmak# halrun halcmd: loadrt genhexkins halcmd: show param Parameters: Owner Type Dir Value Name

The other question is: How can i learn my linuxcnc version ? I performed update steps for updating version of 2.7 but i am not sure that i work with 2.7.

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10 years 7 months ago #72208 by andypugh
Replied by andypugh on topic 6x6 Stewart (Parallel Kinematic Machine Tool)
That's odd. I get
Code:
andypugh@linuxcnc-26-debian:~$ halrun . halcmd: loadrt genhexkins halcmd: show param Parameters: Owner Type Dir Value Name 4 float RW -22.95 genhexkins.base.0.x 4 float RW 13.25 genhexkins.base.0.y 4 float RW 0 genhexkins.base.0.z 4 float RW 22.95 genhexkins.base.1.x 4 float RW 13.25 genhexkins.base.1.y 4 float RW 0 genhexkins.base.1.z 4 float RW 22.95 genhexkins.base.2.x 4 float RW 13.25 genhexkins.base.2.y 4 float RW 0 genhexkins.base.2.z 4 float RW 0 genhexkins.base.3.x 4 float RW -26.5 genhexkins.base.3.y 4 float RW 0 genhexkins.base.3.z 4 float RW 0 genhexkins.base.4.x 4 float RW -26.5 genhexkins.base.4.y 4 float RW 0 genhexkins.base.4.z 4 float RW -22.95 genhexkins.base.5.x 4 float RW 13.25 genhexkins.base.5.y 4 float RW 0 genhexkins.base.5.z 4 float RW -1 genhexkins.platform.0.x 4 float RW 11.5 genhexkins.platform.0.y 4 float RW 0 genhexkins.platform.0.z 4 float RW 1 genhexkins.platform.1.x 4 float RW 11.5 genhexkins.platform.1.y 4 float RW 0 genhexkins.platform.1.z 4 float RW 10.459 genhexkins.platform.2.x 4 float RW -4.884 genhexkins.platform.2.y 4 float RW 0 genhexkins.platform.2.z 4 float RW 9.459 genhexkins.platform.3.x 4 float RW -6.616 genhexkins.platform.3.y 4 float RW 0 genhexkins.platform.3.z 4 float RW -9.459 genhexkins.platform.4.x 4 float RW -6.616 genhexkins.platform.4.y 4 float RW 0 genhexkins.platform.4.z 4 float RW -10.459 genhexkins.platform.5.x 4 float RW -4.884 genhexkins.platform.5.y 4 float RW 0 genhexkins.platform.5.z halcmd: exit

Try "show all" instead?

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