Showroom Grigory’s 6DOF 24V DC

Hi Grigory, I took some pictures, if you put the shaft as left, the angle will be limited. (maybe I understand wrongly, you have no this issue)

Hi @SeatTime , you mentioned the math updates of SIMTOOLS V2, does it required equilateral hexagons base? I know the XSIM required equilateral hexagons base.

simtoolsv2 is plugin based. simtools v2 is set up at this point without 6dof maths as it will be plugin based. there is some work being done to bring a 6dof math plugin to STv2. but at this point the best way to achieve your desired effect is thru careful tuning. you may want to look here for more info as this seems to be the most promising 6dof math project. https://www.xsimulator.net/community/threads/wip-interface-for-stewart-platform-control.7360/

Don't know, it is not on the V2 that is being tested by the Beta group. I think it is part of a planned update after release. It would be nice, but you really don't need it to run a 6DOF on Simtools.

I modified the base frame and changed orientation of the motors accordingly:





The angle between motor lever and rod would be about 90 degrees in the neutral position: when gas sptings are in the middle of their stroke range:










I had to increase the size of the base a little, so that to avoid rods leaning too much outwards when swaying/surging.






I estimate that this configuration should support about ±110mm movement range on heave and sway, ±150mm on surge and about ±15° tilt.

Welded the base:



Gas springs fit well and they do not seem to limit range of motion too much.




I'm planning to fit the motors, levers and rods next weekend. I'll also grind and paint it, so that the whole thing resembles Mad Max props a bit less.

Something is very wrong with my IBT-2's: they keep heating to over 110°C when running my motors without any load. Instead of trying to solve that I decided to upgrade to Sabertooth 2x60A.

Here is how I see the new power scheme:





Sabertooth requires a battery connected in parallel with power supply to absorb back currents from the motors. Unfortunately, that makes an emergency switch located prior to PSU insufficient, as the battery will still be powering the motors even if 220V is cut off.

Sabertooths Packetized Serial mode allows S2 pin to be used as emergency stop trigger, so that could be one solution if I can modify existing SMC3 code to work with Packetized Serial instead of the currently supported Simple Serial.

I would, however, prefer to have something "more hardware" for e-stop. Can anyone recommend a way to cut a 24v line from the rail to Sabertooths with huge currents that it may carry?

Check out these guys @Grigory, they have a wide selection.
http://www.automationdirect.com/adc...Yi5584Ww4ugbhIgooNbz59bVaticccVhVWRoCzTfw_wcB

Thanks, but, if I am not mistaken, these are low current safety switches, not something that could pass about 200A and break the line if needed.

Like this:

I believe some beefy MOSFET's could be used to break the line to GND instead:




But is it a good solution for emergency stopping?

Could just use a relay. Spst normally open like this. Then you just have to cut Lower voltage power to the relay.
http://www.ebay.com/itm/Continuous-...al-/201643238257?_trksid=p2352135.m2548.l4275

It will easily handle the amperage.

From where do u have this information? Im running Sabertooth 2x32 since months using a PSU and its still alive...

They state this on their website in bold: https://www.dimensionengineering.com/products/sabertooth2x60

I believe that, unlike 2x32, 2x60 cannot have regeneration turned off and always back-feeds power to the power source when motors are braking.

Wrote to DE support and got a response (they are amazingly quick in providing assistance!):

I think I'll just use the built-in function then.

What about capacitors for the back feed? If you do go batteries make sure they are sealed or they may vent harmful fumes.

Capacitors may work as well, I believe. I do not have any idea, however, how to calculate the required capacity. That's why I intend to use two 12v AGM car batteries in series.

Sabertooth 2x32 is version 3 driver and ability to work without buffer battery is one of the benefits. Judging by the data sheets, this does not apply to 2x60, unfortunately.

Unfortunately, indeed. The 2x32 should be the first choice at least, which doesn't help you of course.

check this site out @Grigory http://mustcalculate.com/