Peter Nachtwey
Member
This topic deserved to be a separate thread with and Advanced Control header.
The first video was made from videos a couple of years back.
You don't see it do much but there is an explanation of what the cylinders do.
Bruce Coons, our regional sales manager at the time is narrating. Bruce has retired now. He will be missed.
https://deltamotion.com/peter/Videos/Clansman App - Light Bkgd.mp4
This second video shows the grinder robot in action. The operator touches the surface at 3 points. Three points define a plane however the mathemagic that is required to do that is significant. Usually we must hand hold our customers but Richard worked all of this out himself. The purpose of defining the plane is that the grinding wheel must not grind beyond the plane. Also, the grinding wheel wears so the diameter is smaller. The touching the three points compensates for the grinding wheel wear. The area where the grind wheel is a nasty environment.
The amount of math required to compute where the grind wheel is at the end of several linkages and rotations is significant.
This next video shows the Clansman robot grinder in action. There is no sound.
https://deltamotion.com/peter/Videos/Grinding Arm.mp4
This may not look as neat as a Kuka robot playing ping pong but this grinder robot must move a lot of mass at the end effector and still apply force to grind.
I believe the Clansman robot can define planes that are not horizontal.
Richard can fill in any details that I may have missed or got wrong. Brag a bit Richard. Most people can not do the math or the programming on anying this complicated.
The first video was made from videos a couple of years back.
You don't see it do much but there is an explanation of what the cylinders do.
Bruce Coons, our regional sales manager at the time is narrating. Bruce has retired now. He will be missed.
https://deltamotion.com/peter/Videos/Clansman App - Light Bkgd.mp4
This second video shows the grinder robot in action. The operator touches the surface at 3 points. Three points define a plane however the mathemagic that is required to do that is significant. Usually we must hand hold our customers but Richard worked all of this out himself. The purpose of defining the plane is that the grinding wheel must not grind beyond the plane. Also, the grinding wheel wears so the diameter is smaller. The touching the three points compensates for the grinding wheel wear. The area where the grind wheel is a nasty environment.
The amount of math required to compute where the grind wheel is at the end of several linkages and rotations is significant.
This next video shows the Clansman robot grinder in action. There is no sound.
https://deltamotion.com/peter/Videos/Grinding Arm.mp4
This may not look as neat as a Kuka robot playing ping pong but this grinder robot must move a lot of mass at the end effector and still apply force to grind.
I believe the Clansman robot can define planes that are not horizontal.
Richard can fill in any details that I may have missed or got wrong. Brag a bit Richard. Most people can not do the math or the programming on anying this complicated.