Sisyphus Kinetic Sand Table: Exploring Reverse Kinematics Unveiled!

Hey everyone! 👋 Exciting news - this Geared SCARA Arduino Sand Table project used only wood gears, and I spill all the details on how I built it, along with the math behind the reverse kinematic equations. 🤯 Make sure to check out the video to witness the magic!
📐 For a deeper dive into the math, don't miss the Desmos simulation: Desmos Simulation
📂 Access the CAD files and take your own spin on the project:
drive.google.com/drive/folder...
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[@clorax1357]

If you make finer teeth in your gears with the same radius you may be able to mitigate that wobble without changing any code.

[@cle4tle]

It looks like it's just the wide tolerances of the laser cut gears

[@gergelybencsik8626]

The gear arrangement is really clever, I love it!

[@NewsonsElectronics]

Glad you like it!

[@evanbarnes9984]

This is awesome! I'm actually working on a similar design sort of. It uses concentric shafts, a bit like the hands of a clock. It makes the reverse kinematics pretty weird, and I'm working in polar coordinates as the default, with conversions to rectangular coordinates where needed for certain functions. Have you consider putting gearboxes on your steppers as well as microstepping? I think that would help the wobble of the end of your scara linkage. The individual steps on your motors translate to pretty large displacements of the magnet, so gearing that down could help. Plus it's not like you need the speed of a Nema 23 for this. Great work, I'll be following along!

[@cedarmyers6709]

You may want to consider adding a PTFE or similar material between the magnet and upper plate to reduce friction/stiction.

[@cle4tle]

have you tried half stepping to see if the low speed wobble goes away

[@user-ro7xu2xb8p]

Hello! Amazing, can you share CAD files or assembly scheme?

[@NewsonsElectronics]

drive.google.com/drive/folders/1bWW7NtRSI4V6nBOlrISRf4F1nFztH5sq?usp=sharing

[@jakeriff95]

Do you have a link to the plans?!

[@zombieregime]

you need some one elses plans? lame.....

[@jakeriff95]

@@zombieregime who hurt you bro

[@NewsonsElectronics]

plans are in comments

[@Bennyco86]

what is the Arduino shield you were using here?

[@NewsonsElectronics]

CNC Arduino shield