3dof with 4 actuator, PLC based servo controller

Last year I finished my first 2dof build, which used 12v DC reduction motor and SMC3 code.
That was a fun experience and I made a lot of friends by sharing that project.
Right after that I turned my next targe to servo actuators, for better smoothness and response.

So I spent several monthes to prepare the new build, here is the final result:


It looks not so different from a SFX100 rig, but there are 2 new features I want to share：
ONE is my modified actuator,
TWO is the controller, I developed it originally from a PLC(details are in this tread).

Indeed I took reference to the SFX100 plan, but the 3D printed parts would take too much time so I decided to make some changes.
By using laser cut metal plates and thread stud, the actuator became easy to build and robust.

One more thing different is I used 90ST motor instead of 80ST, the reason is because in my country there are tons of used 90ST on sell in the market, one servo set(with its driver) is only 30 dollar.

I chosed Dorna 750W 90st servo with 2.4Nm and 3000rpm rated speed.


adding the rest parts, each actuator only cost me about 100 dollar.

For better understanding here is a video of my actuator build

cohtroller
do you use the microcontroller