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6DOF Hydraulic Stewart Platform Project

Discussion in 'DIY Motion Simulator Projects' started by MSK, Mar 17, 2012.

  1. MSK

    MSK Member

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    Hello,

    When I first joined the website, i made a thread about the project I was getting into. But that was in a theoretical phase. Now I have some progress. Me and my buddy are looking forward to completing the assembly soon. Then we can do all our software testings on the arranged hardware.

    Basic details:
    - Stewart Platform
    - Hydraulic powered
    - Sync with X-Plane :) (this is where I wanted to implement X-sim)
    - Made of steel and trust me its really really heavy...lol

    Here are some pictures if you guys want to see. I will post details and more updates if anyone actually is interested.

    By the way... we have made some alterations here and there. But just posting to share and give you guys idea of what I am into right not.

    Top and base
    [img600px]http://img826.imageshack.us/img826/5751/30864110150388217716118.jpg[/img600px]

    Top and base CAD

    [img600px]http://img27.imageshack.us/img27/4215/17093381.png[/img600px]
    [img600px]http://img857.imageshack.us/img857/2329/24991140.png[/img600px]

    Platform in real life with the actuator (not assembled)

    [img600px]http://img834.imageshack.us/img834/3317/41723910151387805240494.jpg[/img600px]

    [img600px]http://img713.imageshack.us/img713/6313/41936110151387805400494.jpg[/img600px]

    Universal joint ( done some modifications later)

    [img600px]http://img24.imageshack.us/img24/143/52518254.png[/img600px]

    [img600px]http://img109.imageshack.us/img109/2457/41692010150497235171787.jpg[/img600px]

    [img600px]http://img851.imageshack.us/img851/503/31452110150864042280494.jpg[/img600px]

    [img600px]http://img845.imageshack.us/img845/9485/43070410151387805545494.jpg[/img600px]

    Trying to assemble and troubleshoot

    [img600px]http://img845.imageshack.us/img845/9485/43070410151387805545494.jpg[/img600px]

    [img600px]http://img855.imageshack.us/img855/2858/42534910151387805820494.jpg[/img600px]

    [img600px]http://img546.imageshack.us/img546/7585/41955310151387807240494.jpg[/img600px]

    [img600px]http://img33.imageshack.us/img33/4920/42278910151387806935494.jpg[/img600px]

    [img600px]http://img252.imageshack.us/img252/2455/42130510151387807115494.jpg[/img600px]

    [img600px]http://img191.imageshack.us/img191/156/42061210151387806135494.jpg[/img600px]


    Since X-Sim2 will not do it directly, trying to learn to implement the 6dofmaster software made by Robin too. As a backup plan, purchasing a 6dof software. But I am more inclined towards doing it with X-sim involved in the process.

    Feel free to ask questions or simply comment. And if you can help with the C++ modification of the source code of Robin's 6dofmaster ...do not hesitate to put me out of my misery 8)


    Regards
    MSK
  2. Ads Master

    Ads Master

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  3. bsft

    bsft

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    Nice progress there, its looking good.
    By the way, what 6DOF software are you planning to purchase as doe sit do 2 and 3 DOF.
    Thanks, David.
  4. MSK

    MSK Member

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    Hello bsft,

    Firstly thanks for the Simple people's guide for X-sim even though it was not enough for me to understand and implement in my system. But when people help out others this way ... its so cool... :) Thanks

    Currently, buying this software : http://buggies.builtforfun.co.uk/Sim/6DOF-Motion-Software.php

    But I am more inclined towards using X-sim2 and 6dofmaster . I am using Arduino to control the hydraulics.

    X-Sim2 by itself is not giving me the option to control my actuators the way I want it . I found out that I can actually use the 6dofmaster software developed by Robin in this forum. However I would need to modify the source to use it. It looks for SD84 hardware. :(

    Have to modify the source to stop it looking for SD84, and change it's comport settings for it to talk to my Arduino. I need to change some of the kinematics for it to work with my platform and not to mention that the 3D simulation will be awsome to be modified to fit my platform.

    Have any suggestion for the software bit ?

    Regards
    MSK
  5. bsft

    bsft

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  6. MSK

    MSK Member

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    We have tested the BFF software with a little platform made from little servos. It works well. So there should not be much issues with it being used to send the exact same signals to the arduino when the arduino is connected with the hydraulic system.

    I have checked the spider plugin. Its cool. However, it requires alot of work before I can use it on my system. By alot I really mean alot.

    The software developed by Robin (6dofmaster) is pretty cool. I would more than love to put it to the test.

    Wish me luck so that the assembly is done as quick as possible. That would allow us to test our softwares soon.

    Regards
    MSK
  7. MSK

    MSK Member

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    Hello,


    Had some progress with the mechanical assembly. Here are the pictures:

    [img600px]http://img685.imageshack.us/img685/9948/image013er.jpg[/img600px]

    [img600px]http://img40.imageshack.us/img40/6447/image011wn.jpg[/img600px]

    [img600px]http://img19.imageshack.us/img19/1613/image008vk.jpg[/img600px]

    [img600px]http://img138.imageshack.us/img138/5082/image005pc.jpg[/img600px]

    [img600px]http://img189.imageshack.us/img189/4100/image002xov.jpg[/img600px]

    [img600px]http://img818.imageshack.us/img818/1659/image001bds.jpg[/img600px]

    Now, for the electrical updates, p.meters need to be attached.

    Hydraulic - the actuators need to be connected and tested :D

    Still fighting with the software bit :( . I hope I get it done soon.

    Regards
    MSK
  8. tahustvedt

    tahustvedt Member

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  9. MSK

    MSK Member

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    thanks :) Thats motivational :D I hope I get the software bit fixed soon.


    Regards
    MSK
  10. AldoZ

    AldoZ Member

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    great serious work there! I want to give you my maximum compliments!
    Spectacular!
    :clap:
  11. MSK

    MSK Member

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    Hello aldoZ,

    Thank you very much for the compliments. :) Its very motivating. Me and my friend are working hard on this. My buddy is a real hard worker. I am now trying to give everything a nice ending (or atleast an intermission) . The software part needs to be tuned for my platform. A generous user on this site Tronicgr is helping me out with the C++ so that I can modify Robin's 6dofmaster to tailor fit my platform.

    Currently, we are doing all software testings on a little platform built using 6 little servos. You can see videos of my tests on this thread:
    6dofmaster software modification

    Regards,
    MSK
  12. MSK

    MSK Member

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    Hello everyone,

    I will no longer be working on this project. However, just posting some more images of what works have been completed so far. My buddy worked alot on this since I have left the project. I hope the ones working on this from now on can make it work like it should. The hydraulics have been connected, needs some testing and tuning. For the software part, we have the solution, however, some serious works needs to be done to ensure good system reliability and safety.

    Connections and electricals
    [img600px]http://img585.imageshack.us/img585/1757/img00991z.jpg[/img600px]

    Electricals connected to measure actuator displacement
    [img600px]http://img337.imageshack.us/img337/5058/img01001.jpg[/img600px]

    [img600px]http://img824.imageshack.us/img824/2613/img01011q.jpg[/img600px]

    [img600px]http://img513.imageshack.us/img513/3412/img01021s.jpg[/img600px]


    This community is not a big fan of such systems as I realized. Well, I can be wrong. However, I would like to take this opportunity to thank everyone for the help and support regarding everything. Its too bad that this project was not something that I would be able to carry on doing, in that case, I could probably contribute towards a better tomorrow for people that are interested in systems that I would have been working on. Anyways, I also thank the creators of the internet, it is indeed amazing how it helps us connect and share and develop.

    Regards
    MSK
  13. vulbas

    vulbas Active Member

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    My Motion Simulator:
    AC motor, 6DOF
    :clap: :clap: :clap: it's amazing :clap: :clap: :clap:
  14. tronicgr

    tronicgr

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    Yes, it is but also expensive as well. I could buy a small car instead of this! :p

    As long actuators cost is remaining high, its more difficult for a 6DOF project to find its way to home enviroment DIY motion simulator.
  15. MSK

    MSK Member

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    Thanks :)

    Yes it is expensive. Well, it was never intended for home environment. The risks associated scares me away from even considering that. Its toooooo heavy and I suspect it would remind us of Megatron when it moves. However, this project will be on a forever updating basis. Mostly the software solutions. This will go on to become a proper flight simulator. As you guys have seen, this was just the beginning. I wish the best of luck to those who take care of this platform from now on. I wish I was as talented as many of you out here. But the fact remains that I never had any background in working with programming. My first project ever was to workout a software solution (open source) for this baby and design+manufacture+assemble it.

    My goal was to make the software adaptable enough for different systems. Meaning that people with less resources could find it useful too. However, my time allotment was finit, now it all depends on the guys who would work on it and take it further.


    Thank you all for taking the time to help me out.

    Regards
    MSK
  16. Qarla

    Qarla New Member

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    Hi,

    I,m building a similar platform a bit bigger than yours but I have had troubles looking for the perfect attachment device. I can see that you use the universal cross joints and then make the clevis brackets, right? Do you consider the load that the platform is going tho carry for the size of the joints? or is completely empirical ? Do you have the dimensions of your joints?

    Nice work BTW!
  17. hazard_mkd

    hazard_mkd New Member

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    Hello, i would like to build a 6dof hydraulic system for myself but i am worried and have questions. Can you please read them and try and answer me? Thanks!

    1. How do you solve the smoothness of the platform? I see you only use regular valves, with full open and full closed positions. Meaning a jerky, shaky platform..

    Wouldn't it be better to use proportional valves, or even servo valves to control the flow of fluid to each cylinder? Or is the mass and inertia of the system enough to produce smooth movement?

    2. How do you calculate the speed requirements? http://bffsimulation.com/6DOF-Motion-Software.php only gives positional demand. I'm guessing you need to calculate the speed of cylinders (flow of fluid)? .. one idea might be to take the relative distance difference between each stream of positional requirement for each cylinder and then use a formula to get a pwm output which then might be used to control the proportional valves (their open-ness) ?

    examples demonstrating idea:

    stream of data 1: Cylinder 1 position 100.
    stream of data 2: Cylinder 1 position 102.

    result - small speed (semi open proportional valve)

    stream of data 1: cyl1. pos 100
    stream of data 2: cyl1. pos 140

    result - max speed (full open proportional valve)

    of course there will be a formula to calculate all of this, and there will be calibrations etc.. but how does this sound as a solution?

    3. Speed. Hydraulics are slow. Separate high flow pump for each cylinder? or multiple pumps run in parallel?
    gear flow dividers for ensuring equal max flow to each cylinder?



    I knoow, lots of problems, lots of tricks. but the rewards are big

    thanks
  18. Ashraf

    Ashraf Member

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    My Motion Simulator:
    3DOF, Arduino, Motion platform, 6DOF
    Hello everyone !
    I want to make hydraulic motion 6DOF, already made sample, but faced with a critical movement of the platform in particular when put forward by two shaft from one point (Picture 2) In the opposite upper point of "falls" to the ground.
    - interesting to from others of platforms is also movements such dynamics?
    - What program can modulate the dynamics of the 6DOF platform and calculate the optimal point of contact actuator?

    thanks.

    Attached Files:

    • p-1.jpg
      p-1.jpg
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    • p-2.jpg
      p-2.jpg
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    • Like Like x 1
  19. Ashraf

    Ashraf Member

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    My Motion Simulator:
    3DOF, Arduino, Motion platform, 6DOF
    Process has begun !!!;)

    Attached Files:

    • Like Like x 1
  20. kermit76

    kermit76 New Member

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    Thats looks great!!!