I don't quite know what size or shape XY table I need. Rather than print lots of them, I've built a set of flexures for Metriccano, and knocked up an XY table with them. This allows me to pursue the scientific method and change one attribute at a time. Linkage types, attachment points, number of legs etc.
Yes, I know there is IK modelling, but that doesn't take into consideration where you need to put the wires, what fits on the bench, where you can stack the microscopes and so forth. Not without a lot of work anyway. Anybody wants the GPL'd files, go to the comments and tell me.
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