https://github.com/lin-ycv/mearm-grasshopper

IK solver for MeArm
https://github.com/lin-ycv/mearm-grasshopper

grasshopper grasshopper3d inverse-kinematics kangaroo kinematics mearm simulation solver

Last synced: 10 months ago
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IK solver for MeArm

• Host: GitHub
• URL: https://github.com/lin-ycv/mearm-grasshopper
• Owner: lin-ycv
• License: mit
• Created: 2021-08-22T08:16:55.000Z (almost 5 years ago)
• Default Branch: main
• Last Pushed: 2022-10-04T10:17:51.000Z (over 3 years ago)
• Last Synced: 2025-01-11T01:23:31.180Z (over 1 year ago)
• Topics: grasshopper, grasshopper3d, inverse-kinematics, kangaroo, kinematics, mearm, simulation, solver
• Language: C++
• Homepage:
• Size: 431 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • Funding: .github/FUNDING.yml
  • License: LICENSE

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README

          
# MeArm-Grasshopper

Demo: https://www.instagram.com/p/CTeXCVBprB6/

IK solver for MeArm. MeArm servo default positions should be assembled as below for the angle values to match:

- Base: Straight forward @ 90

- Right: Straight up @ 90

- Left: Straight up @ 90

- Gripper: Open @ 90

## Kangaroo Method

Kinematics is solved thru simulation (Kangaroo), therefore some inaccuracies is to be expected. This shouldn't be an issue, since meArm isn't highly accurate to begin with.

## Trigonometric Method

Kinematics is solved thru trigonometry, and proper mechanical limit checks are implemented.

## Custom MeArm

To use a custom sized meArm, CAD your own 2D skeleton by referencing this:

![](https://github.com/lin-ycv/MeArm-Grasshopper/blob/main/meArmSkeleton.png)