Makelangelo-firmware

http://www.makelangelo.com/

A mural drawing robot and a gentle introduction to 3D printing

Makelangelo is a polargraph mural drawing robot. It is intended to teach students about programming, physics, trigonometry, and electronics in a fun, goal-oriented way. Makelangelo is scalable: our test models have ranged from 30cm^2 to 300cm^2.

This project specifically deals with the firmware: the code in the brain of the robot that receives instructions and moves the motors. It pairs really well with Makelangelo, a project to give humans a pleasant GUI.

Makelangelo-firmware can also support traditional XY gantries, CoreXY gantries, Zarplotters, Skycams, Delta robots, Stewart platforms, 3 axis arms, and 6 axis arms.

Kinematics

Makelangelo-firmware can be recompiled to work as one of many different types of CNC:

• Polargraph: wall hanging V shape
• Traditional: classic XYZ gantry
• CoreXY: gantry with cross-belt tensioning
• Zarplotter: X shaped 2D motion
• Skycam: X shaped 3D motion
• Delta: 3-4 link rotatry action moving a head parallel to the table below
• Stewart platform: six link rotary action moving a head above.
• Arm3: 3DOF palettizing arm
• Sixi: 6DOF arm
• Traditional6: like traditional with more axies
• SCARA: single link, two joint, 2D motion

Version

Newer versions might be available at https://www.marginallyclever.com/product/makelangelo-firmware/

Note

Unless otherwise stated in the code, the default units of measurement are millimeters (mm), kilograms (kg), and seconds (s).

Instructions

• Make sure the parent folder is called Makelangelo-firmware.
• Open Makelangelo-firmware/Makelangelo-firmware.ino in arduino
• in Makelangelo-firmware/configure.h make sure BOARD_TYPE and MACHINE_STYLE are set for your board and machine style
  • For Makelangelo 3 or Makelangelo 5, choose POLARGRAPH
• For Makelangelo robots, in Makelangelo-firmware/polargraph.h, set for Makelangelo 3 #define MACHINE_HARDWARE_VERSION 3 for Makelangelo 5 #define MACHINE_HARDWARE_VERSION 5
• Tools > board > set type for your flavor of arduino
• Tools > port > set the connection for your arudio
• upload

For developers, please see https://github.com/MarginallyClever/Makelangelo/wiki/Home/

Get help

Please visit the forums https://marginallyclever.com/forum

Special thanks

Makelangelo is derived from the work of Paul Fisher. It is largely inspired by "Hektor":http://hektor.ch/ by Jürg Lehni and Uli Franke.

This file was downloaded from https://github.com/MarginallyClever/Makelangelo/