![]() ![]() It shall be noted that the three sliders columns can be on positioned on a non-equilateral triangle and asymmetric dispositions were tested, notably the 'Square' delta with angles of 90°,90° and 180°. 32 bit controllers are becoming the controller boards of choice more commonly for delta printers as they have much faster processors and do not struggle with the math at all. Control boards based on 8 bit processors are struggling doing these calculations so a lot of fine software optimization were done for the delta geometry for these processors. ![]() The math is not difficult, but for a printer a lot of square roots must be done. Here the diagonal is the arm length, constant, the vertical branch is the relative vertical position of the platform and carriage, the horizontal branch is the relative horizontal position of the platform and carriage. The linear delta kinematic calculation is simple because the carriage follow a straight line, so the horizontal movement of the platform is linked to the vertical movement of the carriage by Pythagorean theorem (which states that the diagonal length squared, is equal to the sum of the triangles sides squared, the triangle must be a right angle triangle). There are a few examples and notably the Skydelta or this suspended delta There is another solution without rigid mechanics which is to suspend the platform to wires. The term 'parallel delta' shall not be used as all robots with parallel arms are called parallel robots. This geometry is called linear delta and is the most frequent type used in 3D printer world, the machines originating the movement being the Rostock and the Kossel.
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