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Question 6 DOF 24V DC 700W Wormgear Motor

Discussion in 'DIY Motion Simulator Projects' started by Jürgen Schon, Jan 13, 2019.

  1. Jürgen Schon

    Jürgen Schon Member Gold Contributor

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    Hello i´m very new in this community. ( Sorry for my english at first:blush)

    At first i started to read a lot here.
    Then i build a mini 6 Dof with RC Servos.

    Now i want to start with my fullscale Sim.

    I want to show you which parts i want to use and you can tell me if there could be any problems with my choise :grin

    My Sim will have rotary actuators.

    Facts:

    - 24V Motor 800W
    - Wormgear
    - Arduino Mega
    - SMC3 - Code



    24V 800W DC motor with 1:25 ratio (Updated 14.10.2019)
    https://www.alibaba.com/product-det...809.html?spm=a2700.8443308.0.0.20083e5fUqlcdp


    [​IMG]


    I took the motor with 4.5nm
    [​IMG]

    Sabertooth 2x60
    https://www.robotshop.com/de/de/sab...14eqtnnULz1nV-k4lbSam8qctQ-MBwJxoCTqUQAvD_BwE
    [​IMG]
    1x 24v Dc Power Supply 2400W (updated 14.10.2019) (instead of 2 Power supplys)
    https://www.reichelt.de/schaltnetzteil-geschlossen-2400-w-24-v-100-a-mw-rsp-2400-24-p147903.html

    [​IMG]

    Aruino Mega (i have 3 here)
    [​IMG]
    Rotary Pot
    https://www.ebay.de/itm/Bi-Technolo...-0-2V-20V-To-1-/173617021337?oid=173400069527[​IMG]

    24V 150A Fuse for two motors

    [​IMG]
    2x 12V battery for the regen ( but how much Ah do i need?)
    will this battery be ok?
    Or are these to big?
    https://batterie24.de/Autobatterie-...GF5mem2HBbcKfbDXIsa0Yx2rkTK6tMRhoC7u4QAvD_BwE[​IMG]

    Disconnector in the negativ Wire from the Battery/Power Supply to the Sabertooth
    https://www.ebay.de/i/153159360292?chn=ps[​IMG]
    24V Relais to disconect the motor from the Sabertooth with an emergancy Switch
    https://www.ebay.de/i/121299159407[​IMG]
    Emergancy Switch
    https://www.as-torantriebe.de/Not-A...k6dyOydOLbpEWvBtKpeL2amaeLnCUptRoC554QAvD_BwE[​IMG]
    Powered USB HUB
    [​IMG]
    AC Connector
    https://www.bueroshop24.de/brennenstuhl-premium-line-6-fach-steckdosenleiste-mit-überspannungsschutz-schwarz-964759?srpId=d95f8c7e2f752c5ac2f74f0ce9f2f814&lkz=624761&gclid=CjwKCAiA4OvhBRAjEiwAU2FoJStPjm8Zb1QDC8QYHG8ZxI5ZyOjcjfQTdbMtB71Hww5jSHshuQs4uBoCIQoQAvD_BwE&obt=1[​IMG]


    I will make same Wiring-diagramms in the next few days.

    But it is nearly the same like this:

    https://www.youtube.com/watch?time_continue=591&v=G0zOvGL-MYs

    _______________________________________________________________________

    Now the Questions:

    Do i need the Diode between Power Supply and Battery?
    Which one do i need?

    Does SMC 3 work with Aruino Mega plug and play?
    Or should the sketch be modified?

    How much Ah should one 12V battery have?

    ________________________________________________________________________
    Calculation:

    - Length of the Arms on the Worm Gear

    upload_2019-1-13_16-45-53.png

    The torque of the Motor with 1:60 ratio is 82.5 Nm
    82.5 Nm / 9,81 = ~ 8,4 kg with Arm length of 1 Meter

    with 20cm Arms:
    8,4kg x 100 /20 = 42kg á motor
    42kg x 6 Motors = 252kg

    with 15cm Arms:
    8,4kg x 100/15 = 56kg á motor
    56kg x 6 Motors = 336kg

    with 10cm Arms:
    8,4kg x 100/10 = 84kg á motor
    84kg x 6 Motors = 504kg


    is this correct?
    So normaly i can use 20cm Arms?
    Or shoud i reduce the Ratio, for more Speed?

    What is more important? Speed or Power?



    Thanks a lot

    UPDATE 14.10.2019:

    I orderd the motors with a ratio of 1:25 and a different Motor!!
    see above

    motors have 4.5nm without gearbox
    ratio is 1:25 -> 4,5 x 25 = 112,5nm on the levelerarm

    112,5nm / 9,81 = ~ 11,5 kg with Arm length of 1 Meter

    My Levelerarms are 20cm long

    11,5kg * 100cm / 20cm = 57,5kg per motor *6 = 345 kg for all 6 Motors

    and yes it is a little bit to much POWER :D:D:D:D

    No problems with temps (14.10.2019 only short testing)

    Attached Files:

    • Like Like x 1
    Last edited: Oct 14, 2019
  2. Ads Master

    Ads Master

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  3. Jürgen Schon

    Jürgen Schon Member Gold Contributor

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    Here is the Wiring diagram :nerd

    Not the best but i think i should work :D

    upload_2019-1-13_18-9-55.png

    What does the Experts say?
    • Like Like x 2
    • Informative Informative x 1
  4. BlazinH

    BlazinH Well-Known Member

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    Diode, no. Mega plug and play yes, no mod needed. Batteries shown should be more than enough.

    I don't have a 6dof so I won't attempt to answer on torque.

    Wiring looks okay to me but while you don't need diodes for the batteries you may need some on the power supplies to isolate them from one another or you may not.
  5. Jürgen Schon

    Jürgen Schon Member Gold Contributor

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    The last week i got a few parts vor my sim.

    I designed a mounting plate for the Arduino Mega and the Sabertooth 2x60.

    Now i need a Box for all my Parts.

    Attached Files:

    • Like Like x 1
  6. Jürgen Schon

    Jürgen Schon Member Gold Contributor

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    Last Week i orderd my motors with woarmgears.
    600$ for Motors
    and 441$ for shipping:mad:

    The delivery time from China should be 6 days
    but now it is chinese new year -.-

    Now they should arrive at 24 of february
  7. Jeroen

    Jeroen Member

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    My Motion Simulator:
    2DOF, DC motor, Arduino, Motion platform
    Hi Jurgen,

    Nice setup... Should work. I am looking for same motors.

    I am curious about the backlash on those gearboxes.

    Good luck with youre build. Any drawings of the frame that you are going to build?

    Greets Jeroen
  8. Jürgen Schon

    Jürgen Schon Member Gold Contributor

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    Small Update.

    Now i have to finish the 3 Motor Boxes.
    Wire the motors.
    Install Power Suppleys and Batteries.

    Attached Files:

    • Like Like x 2
  9. Jürgen Schon

    Jürgen Schon Member Gold Contributor

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    Today i made a new design for my Poti Mount.
    Should be easier to adjust.

    Yellow old
    Green new

    Attached Files:

  10. Jürgen Schon

    Jürgen Schon Member Gold Contributor

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    Some new Impressions

    Attached Files:

    • Like Like x 1
  11. Jürgen Schon

    Jürgen Schon Member Gold Contributor

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    The first 2 Motors are runing.
    Yesterday i tryed to start the next pair of motors.

    At first the motors run like crazy. Now they do nothig -.-
    And i dont now why.
    No i do check all the wireings. I hope the Sabertooth is not the problem .
  12. Jürgen Schon

    Jürgen Schon Member Gold Contributor

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    Ok i found the Problem...

    The Baudrate changed from 115200 to 9600.
    I dont know why. But i had to change it with the describe Software for the sabertooth
  13. agroum

    agroum My solo 11 years ago Gold Contributor

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    My Motion Simulator:
    Motion platform, 6DOF
    9600 is slow if you want to regulate frequencies above 2hz. Try to raise it again around 115200 or 57600 (both sides, driver and uC)
  14. Jürgen Schon

    Jürgen Schon Member Gold Contributor

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    After changing to 115200 it works great :D
  15. Jürgen Schon

    Jürgen Schon Member Gold Contributor

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    Yesterday i tryed to start my rig.

    Pitch Roll and Heave works great.
    But Yaw Sway and Surge dont work correct.

    When i change the surge slider the rig operats like pitch?

    But why??
  16. Jürgen Schon

    Jürgen Schon Member Gold Contributor

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    After a loaded test i destroyed one gearbox -.-

    2FB783AA-3141-4244-B360-B117F621ECB0.jpeg 7BDF817D-C958-4026-9645-0419E1DF8847.jpeg 1F5AFC9D-6821-480A-AB30-DBB62E3A1E31.jpeg 85B09E56-B8A9-4B24-97AE-DF2776C71CCF.jpeg B74F1611-6BE0-4A6D-8676-2DA16CA3E843.jpeg 64B4683E-51F0-45CA-90EF-58F662CE9323.jpeg 100171AF-94E7-4BEB-96C9-29E1A2C33D56.jpeg
  17. noorbeast

    noorbeast VR - The Next Generation Staff Member Moderator

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    My Motion Simulator:
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    That is a real tragedy.

    Was it just load or is there torsional flex at the mounts that contributed to the failure?
  18. BlazinH

    BlazinH Well-Known Member

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    The real tragedy is it appears to be made out of pot metal. :(
  19. Jürgen Schon

    Jürgen Schon Member Gold Contributor

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    The top rig hit the motor -.- and i was to slow to shut it down.

    A friend of me can weld it. ( he thinks so :D ) Inked6DOF SIM FAIL_LI.jpg
  20. anatachaikiet

    anatachaikiet New Member

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    My Motion Simulator:
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    Buy the recommended place ?
  21. Jürgen Schon

    Jürgen Schon Member Gold Contributor

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    what do you mean? :sos