Question DIY 3DOF (actuator) with Traction loss

Hello, as the title says , I am trying to build an actuator style 3DOF motion platform with traction loss. My plan is to build the Stewart platform on top of another frame with a wiper motor driving my yaw.

Is there a "turn key" Arduino code that would work for this?

if not,

Can I use SMC3 with an Arduino Mega? does SMC3 support 4 motors?
Also considering Jumping two Arduino Uno's via I/O ports to drive the 4th motor.

Just looking at my options.

I currently have 4 IBT_2 motor drivers I plan to use.

Thanks in advance.

My plan is to build something like the picture attached. I pulled this image from a google search. the concept I am going for would be similar, however my budget is limited on this project so there will be slight differences.

But as you can see it will be limited compared to a full 6DOF Stewart platform. Which is why I am wanting to add the extra motor for yaw. My main use for this would be sim racing so I don't mind if there isn't a dramatic amount of yaw. Just enough to feel the tail slide out. I will probably make some sort of leverage linkage to get more range out of it if needed.

I am still in the brainstorming process of the actual frame, so I am open to ideas. This is why I wanted to be sure it was possible and there was software backing for it before moving forward. I have an extra actuator if needed, but I think this design will be compact, and effective.

Yes, I say yaw only because that is the typical name of the axis, but I plan to use a pivot point on the front in my design. for my upper actuator mounts, I'm going to use heim joints. unfortunately the bottom of the actuator will have to have some sort of wishbone mount so the platform doesn't collapse on itself.

honestly my setup is super cheap for now. My dogs chewed up my couch and it had 2 29v dc actuator motors rated at 1000N torque. I ordered some 400mm 1605 ball screws and tossed the recliner ballscrew and made a makeshift mount for them. they actually have a pretty decent speed to them. However, this whole project is likely going to be underpowered, and not entirely structurally sound. but if I can get a good foundation, I will make improvements once I see it work!

I'm setting up my electronics now, and I'm waiting on parts to make DIY hall pots from normal pots seen on a post here. I forget who did it. but that's where i'm at.

For some reason I can't see SeatTime's page. but I'm interested to see what he's got!

Here’s my electronics so far. Part of the reason I posted this thread is I am at the point of wiring in all of my signal wires to the Arduino’s. But I’m at a crossroads because I don’t know if i should stick with one UNO, two UNO’s, or put a Mega in there. Haha

I’m using a thermaltake mini itx pc tower to hold all of my electronics just so it’s tidy.

Hey noorbeast, quick question. I remember reading somewhere that you could combine smc3 arduino’s in sim tools. If I read it right, that means I can run the 3DOF on one board with smc 3 and the TL motor on a separate board with smc3. Is that correct?

Awesome, thank you! I’m getting closer. I’ll post a video when I get it running!

Been a couple of years since I have worked on this, finally making some progress. As of right now I “had” the simulator moving, but need to stop being cheap so I ordered the correct 180degree hall pots because the jungle website ones I ordered worked, but not very well.

Also, I’m not sure if there is a way to reverse motor 3 in smc3 but it currently runs backwards in smc3 utilities. I can reverse it in sim tools so it goes the right way, but as soon as the new pots get here I’ll proceed with finalizing, getting my tuning correct.

I have posted images of the build process and a screenshot from the video when it was moving, ignore the mess lol

Screenshot from video

Exactly, I also have a follow-up for you. Currently I am using IBT2 as my motor drivers. Everything worked great last night, but today with the pots I have, the motors will reach so far and then they are slamming one way or the other. This happens regardless of Kp and PwmMax settings. I’m in manual mode and I get a random Pwm spike it seems. Could this be due to the pots or could a IBT be bad? The pots I have are 360 degree but I have limited software enough to keep them within a collision free range for now. One of the motors jammed itself and kept trying to go until an IBT released the magic smoke lol. Considering spending a little to get away from the IBT if you know of another mode 2 budget friendly driver

How much power do your engines have ?
You need at least 1500W of total power to lift the platform with the equipment.
Having three motors I would make a DOF along the lines of H3 like in this project
https://www.xsimulator.net/community/threads/diy-3-dof-inspired-by-dof-reality-h3-model.18273/
Easy to add TL axis to it .
If you are using one arduino to control three motors then note that the third motor has only two Fpwm speeds 4khz and 31kHz, which can cause problems e.g. IBT2 burns easily at Fpwm >20kHz.
A better solution is to use two arduino .

Just ordered two of these 100A controllers ^^ back to the PWM spike, do you think that would be from the pots or from the IBT's? I guess I'll know soon enough when the good parts get here.

I think I am going to switch to two arduinos, just to eliminate potential issues alongside the frequency issue.

Is it possible that when the motor jammed over and burned out the IBT that it could have shorted something in the arduino? I'm at a loss right now on why motor 2 is acting crazy all of a sudden. My motors are from a Quantum Q6 edge 2.0 Wheel chair, they are a gearbox 24v motor ran at 20V but they are rated at 200W 1200Wmax

I like that design, but I wanted to have Heave too, I plan to add a lower frame and use another motor for traction loss, I have a generic 12v wiper motor I am going to use for that.

Something doesn't add up with the power of your motors.
I understand that they are powered by 24V, but what is their amperage consumption?
As an example, I will mention the motors I use for my wheelchair: 24V 13.4A = 300W.
How does it look in your case?

Don't start the project until you replace the controllers with 100A ones. It's a waste of time to use IBT2 (I burned 8 of them and it still didn't work properly).

I’m not sure. I used the same motors as squarebob did here I’d assume 60A max and 10A min at 20V.
https://www.xsimulator.net/community/threads/new-6dof-project-now-4dof.14459/

Also definitely going to replace the IBT’s as you said