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My 6DOF project

Discussion in 'DIY Motion Simulator Projects' started by xiatian, Jul 9, 2018.

  1. xiatian

    xiatian Member

    Joined:
    Sep 5, 2017
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    Location:
    Xi'an, China
    Balance:
    179Coins
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    +28 / 0 / -0
    My Motion Simulator:
    2DOF
    Prepared for a long time, only now, I don’t know if I can finish it.
    • Like Like x 1
  2. noorbeast

    noorbeast VR - The Next Generation Staff Member Moderator

    Joined:
    Jul 13, 2014
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    Occupation:
    Innovative tech specialist for NGOs
    Location:
    St Helens, Tasmania, Australia
    Balance:
    98,331Coins
    Ratings:
    +8,224 / 40 / -2
    My Motion Simulator:
    3DOF, DC motor, JRK
    By nature projects can be impacted by other things in life. Even if a project is not finished it is likely you have learned a lot about the theory, hardware and software involved in motion simulation.

    But do try to not be overwhelmed and do keep your goals and expectations realistic, in my view that is the best way to keep a project alive, even if it needs to be delayed for a while or go down a redesign path.
    • Like Like x 1
  3. xiatian

    xiatian Member

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    Xi'an, China
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    +28 / 0 / -0
    My Motion Simulator:
    2DOF
    Some parts that have been obtained

    Attached Files:

  4. noorbeast

    noorbeast VR - The Next Generation Staff Member Moderator

    Joined:
    Jul 13, 2014
    Messages:
    12,881
    Occupation:
    Innovative tech specialist for NGOs
    Location:
    St Helens, Tasmania, Australia
    Balance:
    98,331Coins
    Ratings:
    +8,224 / 40 / -2
    My Motion Simulator:
    3DOF, DC motor, JRK
    That is an impressive collection :thumbs
  5. xiatian

    xiatian Member

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    Xi'an, China
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    179Coins
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    +28 / 0 / -0
    My Motion Simulator:
    2DOF
    Thank you noorbeast, I know I want to continue
    • Like Like x 3
  6. sam poole

    sam poole Active Member

    Joined:
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    midlands
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    745Coins
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    +39 / 0 / -0
    My Motion Simulator:
    3DOF, DC motor, Arduino, Motion platform, 4DOF, 6DOF
    I would love to get my hands on all those parts its hard work getting the parts together so you have done a lot already just concentrate on 1 thing at a time and before you know it it's done
    • Agree Agree x 1
  7. xiatian

    xiatian Member

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    +28 / 0 / -0
    My Motion Simulator:
    2DOF
    Thank you, sam poole, I will continue this project.
    • Like Like x 2
  8. stargazer

    stargazer Member Gold Contributor

    Joined:
    Jun 29, 2018
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    Occupation:
    Electrical/Computer Engineer
    Location:
    Boston,USA
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    834Coins
    Ratings:
    +25 / 0 / -0
    My Motion Simulator:
    3DOF, Arduino, Motion platform, 4DOF
    Xiatian
    I wish you the best. Your success will be my inspiration. I always want a 6dof but chose to do a 3dof instead to get my feet wet first. I will watch your thread closely so please post as much as you can. Even something trivial could turned out to be very helpful for some beginner to learn and understand the build process.
    Regards
    Stargazer
  9. bruce stephen

    bruce stephen Hammer doesnt fix it, must be electrical

    Joined:
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    Occupation:
    general contractor
    Location:
    michigan
    Balance:
    8,891Coins
    Ratings:
    +1,221 / 9 / -0
    My Motion Simulator:
    2DOF, DC motor, Arduino, Motion platform, 6DOF
    dont give up. I havent been able to do anything on my rig project due to life (a very busy, busy season). but the stuff will be waiting when I get to quit working all the time.
    • Agree Agree x 1
  10. xiatian

    xiatian Member

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    My Motion Simulator:
    2DOF
    Thank you, bruce stephen, stargazer, I will
  11. pmvcda

    pmvcda aka FlyPT

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    My Motion Simulator:
    6DOF
    I,

    Can you show what motor and controller model you are using? Specs?
    Without knowing, I don't know if you can use my solution.
  12. xiatian

    xiatian Member

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    My Motion Simulator:
    2DOF
    it is this

    Attached Files:

  13. xiatian

    xiatian Member

    Joined:
    Sep 5, 2017
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    Xi'an, China
    Balance:
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    +28 / 0 / -0
    My Motion Simulator:
    2DOF
    86 series brushless motor 440W3000 to 48V supporting BLD-750 driver
  14. xiatian

    xiatian Member

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    Balance:
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    +28 / 0 / -0
    My Motion Simulator:
    2DOF
    driver.jpg
    Find a big one
  15. pmvcda

    pmvcda aka FlyPT

    Joined:
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    Location:
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    3,327Coins
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    My Motion Simulator:
    6DOF
    This one? https://pt.aliexpress.com/store/pro...l?spm=a2g03.10010108.1000023.1.266a6e8efDPqoL
    and https://pt.aliexpress.com/item/48V-...Motor-series-for-CNC-Machine/32593792750.html

    Then it's compatible.
    You should be able to use the hall sensor version.
    Only difference is the motor with 8 pole.
    Instead of 18 steps per turn you get 24 steps per turn.

    Can you make the motor work without ESP32, just using the controller pot to adjust speed?
    Maybe follow those videos just to be sure the motor and controller are working:


    To control the motor with PWM, you have to set the controller switches to: SW1=off SW2=on.
    Just follow the connections in my thread and it should work (first page - electronics updated yesterday).

    Test with one motor. Use the code I have right now for the ESP32 (today, because I'm going to update the code to use my interface).
    Change the number of motors to 1 in the code.
    Use simtools to test. Be sure to have the right settings on the simtools interface.
    Also, the code expects you to have the limit switches.
    It should start looking for the minimum switch, followed by the maximum and only then it will connect to simtools to follow it's commands.
    I explain everything in my thread. I think it's well documented.
  16. xiatian

    xiatian Member

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    My Motion Simulator:
    2DOF
    Hello, set sw2=on, code #define NUMBERACTUATORS 3 // Number of actuators (for one board) is changed to 1, the motor is high speed after power-on, and the micro-switch does not respond.
    When uploading the code, the prompt ''Found invalid library'" AzureIoT, open the file is empty, is not because of this problem.
  17. xiatian

    xiatian Member

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    +28 / 0 / -0
    My Motion Simulator:
    2DOF
    dd.png

    Find invalid library
  18. pmvcda

    pmvcda aka FlyPT

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    My Motion Simulator:
    6DOF
    It should make the motor move until the minimum switch is pressed.
    But I found some problems:

    -I took another look at the specs. the motor is 120º, so switch 2 should be OFF (sorry)
    -Try with switch 1 ON. The RV pot when turned, should not change the motor speed.
    -Also, try to change this:
    Code:
    #define PWM_FREQUENCY 5000
    to
    Code:
    #define PWM_FREQUENCY 2000
    In the datasheet, it says to use between 1 and 3 KHz, for pwm, so let's use the middle one.

    Library:
    Did you install everything in the Arduino Interface?
    You can follow this tutorial:
  19. pmvcda

    pmvcda aka FlyPT

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    My Motion Simulator:
    6DOF
    Also change this:
    Code:
    // =========
    // Main loop
    // =========
    // Here we get the simtools commands and make the actuator move
    void loop()
    {
      // While we are here, nothing else runs on the background...
      while(true)
      {
       getSimToolsCommands();
       updateActuator(0);
       updateActuator(1);
       updateActuator(2);
      }
    }
    // ============================
    // Update positions thread loop
    // ============================
    // This thread updates the actuators positions reading the hall sensors
    void TaskUpdatePositions(void * parameter)
    {
      while (true)
      {
       updatePositions(0);
       updatePositions(1);
       updatePositions(2);
      }
    }
    
    to:
    Code:
    // =========
    // Main loop
    // =========
    // Here we get the simtools commands and make the actuator move
    void loop()
    {
      // While we are here, nothing else runs on the background...
      while(true)
      {
       getSimToolsCommands();
       updateActuator(0);
      }
    }
    // ============================
    // Update positions thread loop
    // ============================
    // This thread updates the actuators positions reading the hall sensors
    void TaskUpdatePositions(void * parameter)
    {
      while (true)
      {
       updatePositions(0);
      }
    }
    
    It's calling the other 2 actuators...
  20. pmvcda

    pmvcda aka FlyPT

    Joined:
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    My Motion Simulator:
    6DOF