## NAME

lineardeltakins - Kinematics for a linear delta robot## SYNOPSIS

**loadrt lineardeltakins**

## KINEMATICS

The kinematics model is appropriate for a rostock/kossel-style design with three joints arranged in an equilateral triangle. (0,0) is always the center of the working volume. Joint 0 is at (0,R) and subsequent joints are 120 degrees clockwise (note that joint 0 is not at zero radians). The length of the arm is L.## PINS

**lineardeltakins.R float in**- Effective diameter of the platform. R is different than the distance from the center of the table to the center of the belt/smooth rod/extrusion that the joints ride on. In RepRap delta parlance, R is DELTA_RADIUS which is computed as DELTA_SMOOTH_ROD_OFFSET - DELTA_EFFECTOR_OFFSET - DELTA_CARRIAGE_OFFSET.

**lineardeltakins.L float in**- Length of the rod connecting the carriage to the effector. In RepRap delta parlance, L is DELTA_DIAGONAL_ROD.

## NOTES

The R and L values can be adjusted while LinuxCNC is running. However, doing so while in coordinated mode will lead to a step change in joint position, which generally will trigger a following error if in joint mode with machine on.2013-07-11 | LinuxCNC Documentation |