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Lego Mindstorms CNC 3D Milling Machine
swisstechnic posted a topic in LEGO Technic, Mindstorms, Model Team and Scale Modeling
This was a project for the science week at my highschool We have to share our results of the science week on a webpage, so I decided that Eurobricks could be a good choice. About us We are a group of four people, around 16 years old. Nobody of us has a lot of experience at programming, but we all tried to give our best. I, Swisstechnic, know how to build a stable CNC milling machine out of LEGO, but it would be impossible for me to do the whole programming part. Huge thanks to my mates! The Construction I've already made a construction of a CNC-milling machine some weeks ago, but I never had the motivation to start programming it. The design of our milling machine is inspired by Arthur Sacek's on youtube, which impressed us a lot. It uses for each axle a touch sensor to calculate the driller's position. Because of the huge battery waste, we ran the NXT directly via a transformer, as well as the Power Functions M motor for the driller. Drilling Material The grey Material is a flower foam, which is quite blowy and easy to drill through. The driller is the only party that isn't LEGO. Programming We've used the BricxCC Command Center. I think you can all imagine that the coolest thing would be if you could just take a 3D object (from Blender/CAD) and directly calculate it's positions how it should move etc.. There is a way to do this with "G-Code" that you can generate, but we all had no idea how to use this in the BricxCC Command Center. That's why it was quite hard to program objects with curves, such as a circles or cosinus/sinus curvers. Straight objects are easy. This is the code for one cosine curve: #define GESCH 35 #define VERSCH 3 int durchgang; float tiefe; sub fahren(){ RotateMotor(OUT_A,GESCH,-2620); RotateMotor(OUT_B,GESCH,VERSCH); RotateMotor(OUT_C,GESCH,tiefe); durchgang ++; RotateMotor(OUT_A,GESCH,2620); RotateMotor(OUT_B,GESCH,VERSCH); RotateMotor(OUT_C,GESCH,tiefe); durchgang ++; } task main () { while(durchgang<=360) { if (durchgang>0) { tiefe = ((1-cos(durchgang*PI/180)-(1-cos((durchgang-1)*PI/180)))*1928); fahren(); } else { tiefe = ((1-cos(durchgang*PI/180))*1928); fahren(); } } } It takes the milling machine around 1,5 hours for the cosinus curve. If someone knows how to handle G-Code with the BricxCC Command Center for a milling machine like ours, we all would be really thankful! Perhaps I'll upload a youtube film. (I can't post more images, I'll try it later)