The toolhead can be moved around using the mouse. Values in the right pane are at estimated at the current tool position.
Mechanism geometry can be adjusted by dragging on dashed edges.
Positioning Resolution: The maximum estimated positioning resolution in the X or Y direction, corresponding to the distance traveled by the toolhead for a motor quarter-step.
XY Compliance: The estimated maximum in-plane compliance (deflection / force) of the toolhead.
Z Compliance: The estimated perpendicular (Z-axis) compliance of the toolhead.
Effective Mass: The reflected mass of the mechanism at the toolhead when actuated by a single motor, adjusted for force attenuation between the motor and toolhead and taken in the worst-case direction. For an infinitely stiff drivetrain, this corresponds to the reciprocal of anticipated toolhead acceleration for 1N of force applied to the shoulder. We provide effective mass because it can be decomposed into contributing elements.
Limitations
Please be aware of the following current limitations when using this design tool:
The real-world values provided by this design tool are estimates and have not yet been exprimentally validated. We recommend using the metrics provided by the design tool in a comparative manner (i.e. between two design candidates, or between a design candidate and reflected inertia as measured or estimated on a benchmark machine).
The resolution estimate is based off an assumed 1/4 step resolvable microstepping of the motors
XY compliance estimates combine geometric properties with first-order estimates of real-world actuator compliance and bearing stiffnesses (see our paper for sources of these estimates).
Z-axis compliance estimates are based on first-order estimates of bearing pitch stiffnesses. We assume less than full coupling between both arms when estimating cumulative Z compliance.
Effective mass estimates provide an estimate of dynamic performance with an infinitely stiff drivetrain, but very likely over-estimate realizable accelerations due to transmission compliances and friction.
Over time we aim to address the above limitations. This design tool is provided as-is without warranty of any kind, express or implied. Please see our license page for the full disclaimer.
