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6DOF parts back from paint!

Discussion in 'Commercial Simulators and Peripherie' started by WalkerYYJ, Nov 21, 2019.

  1. WalkerYYJ

    WalkerYYJ New Member

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    Have had a new build in the "planning" stage for quite a while, the main structural parts got back from paint today so now starting the build.
    It's a bit of a different approach so it will be interesting to see how it all pans out.

    Disclosure: This is just a tech demonstrator for now, still quite a way's from a commercial product.


    20191117_121911.jpg
    Base plate after tapping


    20191120_101555.jpg
    Picked up from powder-coaters


    20191112_162350.jpg
    Motors ready for electronics


    20191120_164857.jpg
    Under construction.....
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    Last edited: Nov 21, 2019
  2. Ads Master

    Ads Master

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  3. SeatTime

    SeatTime Well-Known Member

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    My Motion Simulator:
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    Well the motors to move the rig certainly look innovative, good luck :thumbs.
  4. pmvcda

    pmvcda aka FlyPT

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    My Motion Simulator:
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    Linear motors?
    Something I looked before making my rig.
    But going that way, I would still be in the actuator build fase making coils.

    Good luck with the project! Those are really fast. Are they strong enough?
  5. WalkerYYJ

    WalkerYYJ New Member

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    Thanks! @pmvcda RE force output, that's the hope, We are hoping to be able to move a ~250lbs load for the demonstrator. It's using a combination of linear motors and pneumatics (to offset "empty" weight.) One of the drawbacks of linear motors is that they burn power holding a load at rest, so the concept is to use the pnumatics to offset the weight of the platform (and the rider) to a neutral point and then use the linear motors for actually moving things about.

    Now of course it remains to be seen just how well this will work!


    A few more pics from this week:


    20191202_165426.jpg 20191202_165506.jpg Never build something without RGB.....



    20191205_114840.jpg Base assembled without legs.


    20191205_140650.jpg Legs going on


    20191205_141333.jpg We built a thing...


    20191205_185648.jpg
    Now.... Does it work.....?
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    Last edited: Dec 7, 2019
  6. pmvcda

    pmvcda aka FlyPT

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    Video!

    Edit:
    What kind of resolution do you expect?
    How many bits for positioning on the firmware/controller?
    Last edited: Dec 7, 2019
  7. WalkerYYJ

    WalkerYYJ New Member

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    We still have to get all the PIDs dialed in but positional accuracy after filtering should be somewhere in the neighborhood of ±7μm.

    Hoping to get a decent video out sometime next week :)
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  8. WalkerYYJ

    WalkerYYJ New Member

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    Still lots of tuning to go, but she moves!



    20191211_154931.jpg
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    Last edited: Dec 14, 2019 at 09:35
  9. PeterW

    PeterW alias Wickie

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    Hi Walker YYZ

    I am quite impressed by your work!! Are you doing this private? or maybe in a university or commercially in a company?

    Second question: What you are doing: is it more rocket science or is it doable DIY?

    Will you share the details of your work?

    Wish you good luck for your project!
    Wickie
  10. WalkerYYJ

    WalkerYYJ New Member

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    Hey Peter, Thanks!

    Were doing this project basically as an experiment of a possible application of linear motors that our company designs/builds. Most of our business is custom OEM stuff, so something cool to demonstrate their capability was the idea here.

    As for the DIY"ness" of this, there are some pretty cleaver people out there, but I think for a single person trying to do this from scratch would take quite a bit.

    Happy to share on the rest of it however!

    As mentioned the motors are ours, they are a "sized up" version of a sort of standard design we have, however in the long run I suspect something a bit larger would be ideal. Our motors are designed with fully integrated drivers (they live on the motors themselves), so there are no external/3rd party motor controllers being used here. The motors are running over RS485 back to our controller.
    The motors are 24V and are powered directly off of a LiFePO4 power pack. In this case we are actually running each individual motor through a pretty high accuracy bi-directional current shunt/power distribution rail. In theory we should be able to do some power recapture during certain braking movements, so we wanted to be able to have a way to capture some data on just how much juice we may be able to put back into the battery bank.

    The mechanicals are all pretty simple COTS parts from McMaster and a bunch of waterjet plate. Not quite as elegant as some other designs, but again at this point its just a development platform/tech demonstrator.

    It should be pretty fast when its done, both with respects to motor acceleration, but also system latency. This will allow it to also run some pretty high frequency vibrations (Khz range) layered on-top of any gross movements that may be commanded, so should be no need for a but kicker. Its also pretty quiet.
  11. SeatTime

    SeatTime Well-Known Member

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    My Motion Simulator:
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    I expect a single 'upscaled' linear motor would have already been load/speed tested before building more and moving the project on. Exciting.. Look forward to see it in action.