adjust body to allow full range of motion

William Wadsworthrequested to merge
range-of-motion into master

This draft MR is testing some ideas, it is for discussion, not for merging After discussion, this approach seems to be useful.

From #444 (closed) there is a problem accessing the full +-6 degrees of tilt of the stage legs because they foul on the z-actuator. This MR implements one possibility, taking a small chamfer from the stage legs to give the full range.

Left: Initial commit here. Right: final version after adjusting the z-axis casing

image image

Final changes to the main body, visualised by using different versions of the main body as negative volumes in Prusa Slicer and slicing on 0.25mm nozzle, 0.05mm layer height to see only the differences.

The output from this MR minus the main body from the current Master branch:

  • Blue highlights the end stops at the top of the actuator columns
  • Orange highlights the change in the access for the actuator bar into the actuator casing, as the designed range of travel is less. This might actually be a problem, need to check that it is not limiting motion - added to a blocking issue #460
  • Green highlights where the z-axis casing is now bigger. The two larger wedges are internal - the stiffening bridge on the z-axis flexure is now chamfered, so the hole that it goes into is also chamfered (built by Minkowski())
  • Black is the change of hash

512_extra_from_master

The main body from the current Master branch minus the output from this MR:

  • Blue highlights the chamfer cut from the legs
  • Green highlights the wedged z-axis strut stiffeners
  • Purple highlights the parts shaved from eth z-axis casing to allow the legs to move more
  • Black is the change of hash

master_extra_from_512_a master_extra_from_512_b

Merge checklist:

  • check range of xy motion is square

The following tests have been made into a blocking issue #460:

  • check range of xy motion is 12x12mm
  • check range of motion is centred on the neutral position
  • check range of z motion, including the highest point for a short working distance x60 objective on a high resolution optics module and the low-cost optics.

Note: this is slightly different from the implementation in the images in #444 (closed)

Closes: #403 (closed) (range of motion in z)
This and !515 (merged) together closes #444 (closed)

Edited by Julian Stirling

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