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/*******************************************************************
* Description: pentakins.h
*
* Kinematics for a pentapod machine
*
* Derived from genhexkins
*
* Author: Andrew Kyrychenko
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2016 All rights reserved.
********************************************************************
This is the header file containing joints coordinates.
*/
#define NUM_STRUTS 5 // number of struts
/* Default position of base strut ends in base (world) coordinates */
#define DEFAULT_BASE_0_X -418.03
#define DEFAULT_BASE_1_X 417.96
#define DEFAULT_BASE_2_X -418.03
#define DEFAULT_BASE_3_X 417.96
#define DEFAULT_BASE_4_X -0.06
#define DEFAULT_BASE_0_Y 324.56
#define DEFAULT_BASE_1_Y 324.56
#define DEFAULT_BASE_2_Y -325.44
#define DEFAULT_BASE_3_Y -325.44
#define DEFAULT_BASE_4_Y -492.96
#define DEFAULT_BASE_0_Z 895.56
#define DEFAULT_BASE_1_Z 895.56
#define DEFAULT_BASE_2_Z 895.56
#define DEFAULT_BASE_3_Z 895.56
#define DEFAULT_BASE_4_Z 895.56
/* Default radius of effector strut end in platform coordinate system */
#define DEFAULT_EFFECTOR_0_R 80.32
#define DEFAULT_EFFECTOR_1_R 80.32
#define DEFAULT_EFFECTOR_2_R 80.32
#define DEFAULT_EFFECTOR_3_R 80.32
#define DEFAULT_EFFECTOR_4_R 80.32
/* Default position of effector joints along the spindle axis in
effector coordinate system */
#define DEFAULT_EFFECTOR_0_Z -185.50
#define DEFAULT_EFFECTOR_1_Z -159.50
#define DEFAULT_EFFECTOR_2_Z -67.50
#define DEFAULT_EFFECTOR_3_Z -41.50
#define DEFAULT_EFFECTOR_4_Z -14.00
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