Power steering motors to 2DOF+TL

Hello all.

I have started to gather parts for 2DOF+TL rig. Mainly after watching this forum and YouTube videos by D Max about building the rigs, decided to give it a go.

Initially thought to make a cheap wiper motor rig, but soon read about the small power and then started looking for crab pot pullers. But since they blow the budget really fast, instead went for 3x power steering motors from Toyota Corolla. (They are ~20years old though) but I got them under half the price vs. crab pot motors. (2xRHD + 1xLHD)



Here is a good comparison of 2005 Corolla power steering motor vs. Small wiper motor



I will continue to add progress here but as for now, just waiting for rest of the parts and planning the rig. (Checking how much square tubing I allready have around the garage. Can I use them, where am I going to fit the rig etc.)

It will be something similar to compact rig by D Max, but with light twist...

You must take into account when connecting the motors that they must be completely isolated from ground, you can damage the electronics

How many amps / watts are the motors ?

The look pretty chunky

Depending on the type of driver you use, for example the IBT2 can reach 43A, enough to control 1 motor

Ok, so I ordered all parts and then got too much to do when they arrived, then summer arrived and this project was mainly gathering dust for past 6months.

I have here:
Arduino Uno
3x IBT2 drivers
3x Hall effect sensors
3x IBM 1400W 12V PSU from server (might use just one for 2DOF + one for traction loss and Arduino)

Motor arms have modified with some raw size flat iron arms. I have also a box full of car tie rods and "dogbones" for joints.

"Enough" box section steel in various surplus sizes that I have gatherer here and there.

The motors are quite chunky indeed.
From center of axle to end of motor is about 21cm / ~ 8"

Motor thickness is about 75mm /~3"

Watched some @Halloween2go wiring videos last night and got some new fire to make this project real for the next winter, when I have time to drive.

Propably will take a month to see any progress from this "I have everything I need, but no time" point, but this project is not totally forgotten

I built one january last year too with prius motors. worked great!

Hi, I think I have seen short video of your simulator. Thanks for the ping on the thread.


PROGRESS:

Allright I have some updates.

Motor lever arms for 2DOF are welded, still need to decide the hole location.


I made a traction loss trolley mockup from some leftover wood to verify my design before starting to make it from metal.


The wheels are aligned so that the trolley pivot point is between the motor axles.

RHD and LHD power steering motors make a nice fit. (Alttough the motor mounts originally have a little angle difference as seen in pic)

More progress:

I made a metal middle frame, I played a lot with simcalc and changed some dimensions accordingly to get better results.

Here is what the work in progress frame looks with joint and easier part of the motor mounts:

I then made wooden top frame "main dimensions test mule" to get some rod mounting places appear before my eyes.

Screwed the "high end wooden rods" to top frame, and used a clamp on the motor side lever to test the actual movements of the system with given dimensions before drilling hole to lever.



I am very pleased. CTC 60mm. Hopefully the motors have enough juice for this. If not, I will change to lower CTC.

I used max angle 40degrees from the lever resting place in simcalc.

My friend lend me rpm counter so here we have a testing pic with old atx power supply and slightly lower voltage output for motor:


I think about 140rpm @12Volts is close enough

There should be about 8degrees pitch and 15degrees roll.

A lot of progress



The top frame for seat, steering wheel and pedals is about 80-90% complete.

Built the mounts compatible for Fanatec CSL DD wheelbase and CSL pedals.

The steering wheel mount may seem odd, because it is. It's the Toyota Corolla Adjustable steering wheel system ! (Angle and distance of wheel can be adjusted, added weight from this part trimmed is 1111grams. Arm still needs slight modification.) This just came with one of the motors, so I thought I would try use it rather than discard it.

The pedal distance adjustment is done with a car "trailer support leg/wheel holder", might not work like this though, I will report later.

Angle of side supports to match each other.


Angle of steering wheel mount 0-position was determined with a temporary jig tube first.


Seat base welding jig


Here is steering rod parts from the cars that had the cheapest parts in compatible lenght



The top rod mount is not yet welded, will adjust position after I get the seat, pedals (+perhaps mod the pedal adjustment system) and wheelbase mounted to find the exact balance point of the rig for me, so I can get the geometry right and drill holes for the U-joint.

I decided to use some leftover 2mm aluminium to make a mount for the HAL sensors. This is what I came up with.

Still need to trim bolt head and then the sensor will be connected to the remaining thread with a small piece of rubber tubing I found from garage.

3d printed a case by @poumpouny from:
https://www.xsimulator.net/communit...o-uno-r3-3-ibt-2-bts-7960-motor-driver.18380/

Mine worked out little warped in corners, and some 80% quality print from my machine with a larger 0.8mm nozzle, but it will do the job just fine after trimming.

It's alive !

Control box 2DOF built and tested.


(Will tidy when I add TL ibt2 later.)


But mainly the 2 DOF Part of rig is now done.


Testing teddy is ready for action!

I really like how it looks all together.

The TL part will be added little later.

More pictures and videos to come soon!