First Look: Ultralight Toolchanging-Ready Delta 3D Printer Design
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- เผยแพร่เมื่อ 16 ก.พ. 2023
- Pushing speed is fun, but so is pushing for new capabilities! I think toolchanging is the next big frontier, so I spent the last two months reworking RocketKossel's motion system from scratch and developing my fabrication skills to get this new design up and running.
All printed parts are PLA reinforced with carbon fiber inserts for incredible rigidity. I made my own arms using IGUS self-lubricating joints (these are an experiment and may or may not prove suitable in the long run). Best of all, the center plate of the effector is hand-swappable so it's ready for future toolchanging! The kinematic coupling is different than the most common 3-balls-on-six-rods system, but it should be good enough -- testing will show one way or the other, and I left room to change it if it's not suitable. Early days!
The effector uses no metal hardware at all except for the heatsert the Pico hot end threads into, so it weighs in at a (ridiculous?) 60g ready-to-print. The carriages each weigh just 36.5g including the 9C linear bearings. The arms are 6mm CF tubes with 4mm CF rods glued into the drilled-out IGUS rod ends. Discounting wiring, CPAP hose for remote cooling, and Bondtech LGX flying extruder (which are not hard-coupled moving mass) and the belts (which I have not weighed), the entire motion system INCLUDING HOT END weighs just 240.07g!
I want to put some mileage on this new motion system before I change anything else or start exploring actual toolchanging, but that's where things are headed, so stay tuned ... ! - วิทยาศาสตร์และเทคโนโลยี
Awesome work!
This setup looks great, the added crossbar stiffness you gave the frame and the lightness of the toolhead especially. That shock mount system for the extruder system that also keeps bowden length short is fantastic. When you do highest speeds, I wonder if rotational inertia of that block will attempt to induce any ringing? But that's what resonance compensation is good for anyways.
Thanks! The rotation of the extruder gantry probably could induce ringing at extreme accelerations, but the setup effectively "gears down" its motion to a small fraction of however fast the rest of the system is moving, so I'm not sure if there's a case where its impact could ever be the same magnitude as everything else. I have only done limited accelerometer testing so far (I need to figure out a solid place to put it on this little toolhead, and a nozzle mount is problematic for other reasons), but the printer does not appear to have any sharp resonance nodes as you might see in a CoreXY, at least up to 300Hz where I was looking -- rather, the graph is a broad hill with a fairly low peak, and the whole thing is flattened very nicely by MZV set to the peak Hz of the hill.
@@jamespray all very good information, I did also note you changed to an orbiter in a later video as well, so that central mass now has significantly less rotational inertia at that even.
@@Roobotics It's actually a VZ hextrudORT, but they're not too far different. The change saved >120g, I think, but it's a testament to the effectiveness of the mounting that it didn't actually change the input shaping graphs very noticeably! What it does help is with Z hop accel/speed, though, because in Z the whole thing does get accelerated in the same direction as everything else.
I need a name for this new design! It's a Kossel, it's Ultralight, it's got Carbon Fiber, and it'll be a Toolchanger. Any ideas ⁉😖⁉UPDATE: I think I've got it: CARBON SHRIKE. (Shrikes = Butcher Birds = Birds that hang food on thorns and fences = just like this will with its tools...)
"Delta Flux": This name invokes the concept of flux, which is a measure of how much something flows through a given area. It could suggest a printer that is capable of printing with high speed and precision.
Good idea! Sadly there's already a "FLUX Delta"... 🤔
"Bertha", referring to the "berthing" process of mating spacecraft modules. Keeps with the RocketDelta theme
@@jeralm 😲😲😲