As you know, it's a chunk of code from prepare_move function

Is this part of the code for straight line drawing (since the arm has a tendency of radial movement because of SCARA). If YES, can someone explain me the logic.. I badly need it for some development. help me pleaseeee..

float seconds = 6000 * cartesian_mm / feedrate / feedmultiply;
int steps = max(1, int(DELTA_SEGMENTS_PER_SECOND * seconds));
for (int s = 1; s <= steps; s++) {
float fraction = float(s) / float(steps);
for(int8_t i=0; i < NUM_AXIS; i++) {
destination[i] = current_position[i] + difference[i] * fraction;
}
calculate_delta(destination);
plan_buffer_line(delta[X_AXIS], delta[Y_AXIS], delta[Z_AXIS],
destination[E_AXIS], feedrate*feedmultiply/60/100.0,
active_extruder);
}

for(int8_t i=0; i < NUM_AXIS; i++) {
current_position[i] = destination[i];
}
}

Ditch them, and instead direct drive the scara arms with a nema17 underneat and another one on top. The firmware can take care of reversing the stepper motion for the top one.

All you will need is one bracket to hold the steppers in place.

That would save a LOT in terms if build complexity right there.

Just make the bracket heavy duty so there is no give or bending. The steppers need to stay on level.
You will also need steppers with a D shaft so you can simply press fit the arms on them and maybe add a set screw.

Hi, this is an amazing project, First of all thank you Mr. Harley.

The Piece 18 Morgan Arm PSI B PLUS Toolhead is not quite right at one the piece and extra border that is not present in the arm alone.

I have the the repository and there is no file for it, try to put together my self from the openscad file, but failed miserably...

Is there any formula to make it or maybe the open scad file itself available somewhere??

Hello.

Your site is completely unavailable. Can you place assembly instruction here (github) or on another international (not co.za) hosting?

Thank you for your great work!

"Please feel free to use it to make your own Morgan, but do not sell it, or a system based on it on sites like kickstarter without my permission."

That conflicts with the stated license, GPLv2. You may be better suited with one of the CC NonCommercial licenses.

Opening 01-pvc_pipe_support_a.stl in slic3r gives a warning about a hole in the mesh. Cleaning it manually in blender, I removed 16 duplicate vertices and one edge that shouldn't have been there (blender highlights it when selecting "Non Manifold" with Shift-Ctrl-Alt-m). After that, slic3r is fine with the part.

I'd be happy to share the fixed part, but if openscad currently generates broken stl from the scad file, then the correct fix probably lies with openscad.