2DOF Newbie Build, looking for suggestions

Hey all,

I've been wanting to build a 2DOF for ages. I'm finally starting to piece together some ideas.

Motors - Existing 2000w brushless motors from old GEN2 Evolve electric skateboard. There is little to no information online, however ChatGPT gives this. The motors are shaped like a nema23, with a 57mm case and a 47mm bolt pattern. They had a 10mm keyed shaft, I have ground them down to 8.8-9mm. This should mate up with the gearbox inputs.

Key Specifications of the Gen 2 Bamboo Motor:

• Motor Type: Sensored brushless outrunner
  
  
• Power Output: Approximately 2000W peak
  
  
• Drive System: Single belt-driven rear motor
  
  
• Motor Housing: Square-shaped casing
  
  
• Top Speed: Around 22 mph (35 km/h)
  
  
• Hill Climb Capability: Up to 20% gradient
  
  
• Battery: 36V lithium-ion
  
  
• Range: Approximately 20 miles (32 km)

Worm drive gearbox - 30:1 ratio for the little bit of extra torque.
https://www.omc-stepperonline.com/3...ducer-9mm-input-shaft-diameter-nmrvs30-g30-d9

output coupling -
https://www.aliexpress.com/item/100...ymWYcZ5w&utparam-url=scene:search|query_from:

custom made arm - Aluminium or steel cut and drilled to suit the coupling.

Some form of rod with turnbuckle ends.
to the underside of the top frame.

Looking to mount this in a small form factor steel base frame, with my current sim rig on top, with an intermediate frame for stiffness, as its loose in the centre where the front/back join.
Its an older version of this.

https://www.mwave.com.au/product/ne...QL9oQ4ADF_39FbT-t2B1DTo2VPEGYoJYaAgCGEALw_wcB

2 x VESC's for the brushless motors, with encoders, custom mounted somehow to get the feedback. The motors are sensored too, so this should provide smoother starting movement.

2 x 48v power supplies, one for each motor/vesc combo. Going for 2 instead of 1 for redundancy.

Output from ChatGPT gives this final verdict, am I missing anything.

✅ Final Verdict:
Spec Result
Required torque ~88.3 Nm per motor
Provided (30:1 gear) 96 Nm
Lever arm 40 mm
Speed at tip ~28 cm/sec
Viable setup? ✅ Yes — borderline perfect

I am 120kg, and I am estimating another 40kg on top for the frame, seat and flight/racing gear.

Looking to balance the pivot point under the center line of mass, is this correct?

Any thoughts?

Do the motors go backwards?

I use Hall effect sensors which mean you need a magnet on your shaft and a custom mount. Started with a piece of 1/8 inch maple. Now I have a machined piece but it could be 3d printed. So there is no mechanical connection to the shaft. It does have to be precisely positioned to give accurate linear feedback. Hint:remove R2 for PWM output and use a low pass filter.



I suspect you will want a 60-80 mm lever arm because who doesn’t want more motion.

Yeah motors can go backwards with the VESCs. I can do hall effect sensors with 3d printed mounts. I have heaps left over from old projects

Do you plan to use the SMC3 Arduino? Be aware that I2C is significantly slower than Analog. That’s where removing R2 comes in.

Edit The link didn’t show up on the earlier pos.t.

https://a.co/d/3vFfO1X

I dont actually know enough about the software side of things yet to know what im doing. Right now from my understanding is smc3 works with an arduino board, the arduino controls the PWM output to the VESC controllers, The arduino also takes the analog input from the hall sensor for positioning control. Is that correct? What else do i need software side of things on the PC for this to run. I currently use Simhub for bass transducer controls and mobiflight for a custom stepper motor trim wheel.

Your assumptions are correct. Smc3 is very popular here go take a look at the 125 page pinned post.

SimTools 3 is the equivalent functionality to SimHub. SimTools is well supported here (aka the developer is a forum participant). That software takes game telemetry and turns it into motor commands. I am not aware of anyone using SimHub with SMC3.

One step is to tell games where to send the telemetry. I am not sure how you would send it two places. SimTools has a feature called SimVibe which does the sound stuff.

Thanks for that. I can sort the software side of things out. Im looking at using these motor drivers, which from what i can see, take a PWM input and a direction. Which the arduino can output.

https://www.omc-stepperonline.com/digital-brushless-dc-motor-driver-24-48vdc-max-30a-500w-bld-530s

Unsure if 600w would be enough, or if i need to up that to the 1500w version, I think 600w would be fine.

Seems as though simhub has SMC3 Support
https://www.xsimulator.net/community/threads/simhub-motion-for-smc3.18805/