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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 New 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 700W
    - Wormgear
    - Arduino Mega
    - SMC3 - Code



    24V 700W DC motor with 1:60 ratio
    https://www.alibaba.com/product-det...pm=a2700.7724838.2017115.2.74096f6bygp3V3&s=p
    [​IMG]
    Sabertooth 2x60
    https://www.robotshop.com/de/de/sab...14eqtnnULz1nV-k4lbSam8qctQ-MBwJxoCTqUQAvD_BwE
    [​IMG]
    2x 24v Dc Power Supply 1000W in paralell
    https://www.banggood.com/de/24V-40A...k9hBJtAX3pX2sdhoC1Z4QAvD_BwE&cur_warehouse=CN

    upload_2019-1-13_17-44-10.png

    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]
    Power Supply for the Relais
    https://www.cht-cottbus.de/netzteil...Yk_yGCp7fiqh6u9thzTv4Cjq5_yfXaXBoCoLAQAvD_BwE[​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
    • Like Like x 1
    Last edited: Jan 13, 2019
  2. Jürgen Schon

    Jürgen Schon New 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
  3. 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.
  4. Jürgen Schon

    Jürgen Schon New 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
  5. Jürgen Schon

    Jürgen Schon New 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
  6. 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
  7. Jürgen Schon

    Jürgen Schon New 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