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CoreXYA

CoreXYA is an attempt to add more simulataneous axes to the core family.

The idea is to augment CoreXY by adding an additional motor to drive the rotational axis. The rotational axis must also follow the linear axes when the gantry is in motion and also be independentely controlled.

A 3rd closed loop belt is used to transfer the rotational motion which will couple with one side of the rotarty axis gear providing motion, sort of like a rack and pinion that follows the gantry. Additonal idlers need to be used for the belt to maintain contact.

Specifications

  • Standard CoreXY with gear reduced rotational axis.
  • Infinite rotation possible because of closed loop belt.
  • Motor shafs can double as pulley holders for supporting axes.

Basic Layout

CoreXYA

The layout is still in the initial stages of development.

Kinematics

This is a 3 axis parallel kinematics layout as for any X, Y motion all 3 motors must move in sync. The C axes follows both X and Y for all the motion.

The kinematics are similar to the CoreXY but there is a additional roational axis which must mimic the commands of the X and Y axis so that the system can move properly.

The ΔC is controlled by one motor and its just a multiplication of the different pulley diameters.

Creative Commons License Rahul S Rajan 2024