LinuxCNC (EMC2) hexapod parallel robot machine tool

LinuxCNC (EMC2) controlled 6-axis hexapod (Stewart platform) machine tool prototype.

Components: 2.2 kW water-cooled 24000 rpm spindle with inverter, 60EM-DHT-36 motors and Dyn2-B drives from DMM Technology, 25x10mm ballscrews 1200mm long, needle bearings for upper joints, 32009 bearings for nut rotation, 26-5M-15 timing pulleys and belts. The base, the moving platform, all joints and struts are custom-built.

The machine is pretty slow here, as it's controlled via LPT port with limited step frequency. Later velocity and acceleration were increased significantly with MESA 7i43 board, see the next videos:
5axis milling http://youtu.be/nebJ59TcYlQ
6axis rapids http://youtu.be/hPE3Qr-ECtQ

Some details at http://parallelrobots.blogspot.com/

If you want to build a hexapod, please read http://imtp.free.fr/imtp2/B3/Wildenberg_Fran%E7ois.pdf

Видео LinuxCNC (EMC2) hexapod parallel robot machine tool канала Andrii Kyrychenko