Whatizit?

The drive-frame JavaScript library provides a simple and extensible framework for modeling and controlling DIY manufacturing robots. A DIY manufacturing robot is modeled as a DriveFrame, which is a collection of one or more individually controllable stepper motor drives. Drive topology is unrestricted, and a DriveFrame can represent a broad range of robots (e.g., Cartesian, delta, etc.). The consistency and generality of DriveFrame representation therefore greatly simplifies the design and prototyping of established and experimental DIY robot configurations.

Coordinates

A DriveFrame works with the following coordinates:

1. Motor coordinates are the smallest digital positioning unit and are typically 1:1 with microsteps.
2. Drive coordinates are the drive-relative positioning unit (e.g., mm or degrees).
3. Effector/World coordinates are the world coordinates of the effector. Note that one or more drive coordinates can correspond to the same effector coordinate (e.g., consider SCARA elbows).

StepperDrive

A StepperDrive maps drive coordinates to motor coordinates and v.v. The following configurations are supported:

• BeltDrive
• ScrewDrive
• GearDrive