@@ -8,7 +8,7 @@ Note that the forward kinematics ignore the axes rotary centers not being coinci
The CAD presented here uses a GT2 timing belt with a fixed NEMA17 stepper mounted to a rotating Z-axis. This belt + motor shuttles a 5/8" carbon fiber tube through custom acetal bushings. Many of the design decisions were based on what was immediately available at Haystack.
<imgsrc="images/images/ppaCAD.png"width="700">
<imgsrc="images/ppaCAD.png"width="700">
Two scripts are provided, one which takes the actuator through a canned series of motions forming a rectangle, while the other listens for serial inputs from a MODs toolpath pipleine written by Eyal Perry. Click the picture below to find a video of the setup running.