algorithmic modeling for Rhino

5 Axis robot arm controller based on Arduino, Grasshopper and Firefly.

This controller is inspired by Andy Payne's creation, The model was designed for making by 3D printer and laser cutter. You can download the STL files for 3D printing by this link, and it also includes the Grasshopper definition file.

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Comment by Generative Fablab on August 26, 2014 at 12:52am

   Hi, Andy, of course I have read your paper on 2011 and that's why I used the same framework of robot arm. Yes, I used the mesh as the geometry, and applied mesh copies for each rotation. I will try your suggestion, but I'm curious about how to code the matrix transformation component? Phython? BTW, my tutor, Prof. Tanaka in Japan wants to say Hello to you, he is your classmate on Fab Academy 2010.

Comment by Andy Payne on August 22, 2014 at 9:44am

Hmm.  That's strange.  It's really a basic algorithm.  Are you using the temporal smoothing or moving average component (not that it should really matter).  Also, is the geometry your moving a mesh (rather than surfaces)?  This can improve speed quite a bit.  Lastly, are you making a bunch of copies to handle the rotation of each piece?  I made a project similar to this a couple of years ago ( and found that by coding the matrix transformations (rather than using a Rotate component for each element) significantly improved the speed of each cycle.

Comment by Generative Fablab on August 21, 2014 at 9:49am

Thanks! Andy, and your Firefly. I have tried component, but seems it would make delay a little bit?

Comment by Tuan N. Tran on August 21, 2014 at 9:37am


Comment by Andy Payne on August 21, 2014 at 9:29am

Looks good.  Have you considered using the temporal smoothing component to smooth out the sensor values?  This might eliminate some of the jerkiness in the motion.  Just a thought. Nice work.





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