r1 compleeeeete

README.md

@@ -4,7 +4,40 @@ Spent some time working this out on the whiteboard today, and threw together som
 
 ![wb](/images/wb-01.jpg)
 
-I'm going for simple, strong-enough, and easy to build. Using rollers and pulleys, or, just as easily, rack and pinion or leadscrew-type actuation. Not trying to be prescriptive or suggest that anything is 'universal'.
+I'm going for simple, strong-enough, and easy to build. Using rollers and pulleys, or, just as easily, rack and pinion or leadscrew-type actuation.
 
 Next up, getting into fusion to get through the details, then fabbing one axis... designing a simple 3axis machine, and fabbing that.
 
+I pulled this off with a simple set of flat-milled parts - I was trying to work with the constraints present in the set of FREP and Milling tools in MODS, to see if we could finish end-to-end gantry generation and milling.
+
+The result is OK, it'll certainly do - there's a line to toe between being kinematically wicked and loosing complexity. This is a bit of a midpoint - all of the axis of constraint have 'tuneability' in that their preloads can be adjusted, but all are over-constrained. There's enough (lots) flex in HDPE that this will be OK. There's a version which (not actually existing yet) is dead simple and totally constrained, and a version which is *perfect* motion-wise. 
+
+Overall, it's a bit bulky. There's some detailing left out before it is complete. But I think in terms of an all-arounder axis, this is pretty OK, and certainly OK for being millable from one sheet of HDPE (or alu, whatever).
+
+## CAD
+
+Available Here: https://a360.co/2qQf6wf 
+
+password is *rollercoaster*
+
+The gantry is built with a set of 'kinematic elements' - a Motor / Pulley Unit, Lateral (into the gantry) and Cross (across the gantry) supports:
+
+![bits](/images/little-bits.png)
+
+These can be jimmied around to make a full set of constraints:
+
+![more bits](/images/multiple-bits.png)
+
+And combined into a complete gantry:
+
+![comb](/images/combined-bits.png)
+
+Here's the back of that:
+
+![allup](/images/backside.png)
+
+## Hardware Notes
+
+Motor Idlers / Topside Way Bearings mount on M5 SHCS with washers on *both sides* and washers used as bearing shims. Use 3DP bushing (or purchased?) in axel. Important for carrying some moment to plate.
+
+Clearances here for pulley to be mounted / tensioned! Consider order of assembly, tensioning.
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cad/axis-sketch.3dm.rhl

+Jake
+JARVIS
+Sunday, April 22, 2018
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