Klipper setup for 5 axis

Let’s get Klipper setup for 5 axis functionality!
This would be super useful for a number of applications!

I’ve seen some previous discussion on the topic and I’d like for us to “get there”.
Intent of this thread is to compartmentalize the problem, foster, and track progress/solutions in each problem area:
Based on Kevin’s comments from another thread:

  1. obtaining a 6 axis slicer;
  2. modifying Klipper’s g-code move parser to support the additional axes
  3. updating the toolhead look-ahead code to track and handle the additional axes
  4. updating the trapq code to track the additional axes
  5. adding the kinematic math functions for the additional steppers

G code format would be:
X2 Y3 Z8 I.5 J.5 K.707
where IJK form a unit vector in the direction of tool axis

As new findings are made, I will make an effort to update this list:

  1. obtaining a 6 axis slicer;
    Potential solutions available:
    Rhino Grasshopper:
    3D Printing and Extrusion with a KUKA Robot Tutorial - YouTube
    Fusion 360:
    Autodesk Fusion 360 | Multi-Axis Deposition Toolpaths - New in Preview - YouTube
    Still seeking solutions that are not behind paywall.

  2. modifying Klipper’s g-code move parser to support the additional axes
    Which file handles the g-code parsing?
    Can someone take the lead here?

  3. updating the toolhead look-ahead code to track and handle the additional axes
    Which file handles the toolhead look-ahead code?
    Can someone take the lead here?

  4. updating the trapq code to track the additional axes
    Looks like code is in traphq.c
    How does it need to be edited?
    Can someone take the lead here?

  5. adding the kinematic math functions for the additional steppers:
    This will be specific to machine type.
    For 6 axis parallel delta:
    I have the reverse kinematics worked out in a spreadsheet, checked for accuracy to 3D model.
    I have designed and built a 6 axis parallel delta machine in a 3d printed/laser cut panel construction.
    I would appreciate help taking my excel reverse kinematics and implementing in code.
    Can someone help?

1 Like

I want this too!

I have THOR robot arm.