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Showroom Robot Wrist for Motion 3DOF platform trial project

Discussion in 'DIY Motion Simulator Projects' started by Thomas Rabbertz, Apr 8, 2021.

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  1. Thomas Rabbertz

    Thomas Rabbertz New Member

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    My Motion Simulator:
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    I am new to the motion platform community but I would like to share my project building a motion platform based on a 3DOF robot arm wrist mechanism that will support the „flying“ frame. If everything works out the way I have in mind, this rig will be able to carry a heavy payload with a quite small setup of motors and drivers.
    I did start with a small 3D printed model of the robot wrist

    After the proof of concept I did build a large version of this joint equipped with ball bearings that should be able to carry a payload of 200-250kg (still a prototype)


    now I will add the motors etc. and hope you enjoy this build log
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    Ads Master

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  3. Thomas Rabbertz

    Thomas Rabbertz New Member

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    My Motion Simulator:
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    This is my A-10c pit that I want to get „airborne“ with the motion platform ;) F701A309-0AD8-4E53-AA7C-B6DFE046C06C.jpeg
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  4. Thomas Rabbertz

    Thomas Rabbertz New Member

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    The two wheelchair motors did also arrive. They are rated 24vdc 250w with 32:1 reduction. I am planning to run them with 12vdc at the beginning B7847791-8641-4D5D-925C-A8B79C631011.jpeg
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  5. Erik Middeldorp

    Erik Middeldorp Member

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    Have you tried putting weight on the joint to test it? It doesn't look too me like it would support 200kg.
    What is the advantage of this type of joint over a universal joint?
  6. Thomas Rabbertz

    Thomas Rabbertz New Member

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    yep, I did mount a temporary seat and tested it with a heavy load ... me ;) no issues with 100kg and the motors are also gonna carry some load

    the joint parts are printed on a laser sinter industrial 3D printer with PA12 fiber filled material... very stable
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  7. Thomas Rabbertz

    Thomas Rabbertz New Member

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    My Motion Simulator:
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    the advantage is that you will also have a yaw axis and more travel way... for example if you use pitch down , the nose will move down and forward. This (I hope) will simulate bit of G‘s
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  8. RacingMat

    RacingMat Well-Known Member Gold Contributor

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    My Motion Simulator:
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    nice innovative project! I'm curious where you'll put your motors and how they will actuate the three arms :)
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  9. Erik Middeldorp

    Erik Middeldorp Member

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    Can you do a video of it yawing? To me it looks like the joints wouldn't allow yaw.
    You could achieve a similar surge forward while pitching with a low mounted universal joint, however it's recommended to mount it high to reduce the force on the motors.
  10. Thomas Rabbertz

    Thomas Rabbertz New Member

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    9E7685D4-B2FE-4518-913D-4E3F8BAA8DF0.jpeg
    thanks ! I hope to have enough time this weekend to show you more progress on this project. Last evening I did the first Pot mount. Now I need to figure out how to scale the pot because I only have some 100ohm pots on hand
    • Informative Informative x 1
    Last edited: Apr 10, 2021
  11. Thomas Rabbertz

    Thomas Rabbertz New Member

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    yes, will do some more vids this weekend. Well, I know that there are already solutions available with standard joints but in this project I just wanted to try something new ;)
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  12. RacingMat

    RacingMat Well-Known Member Gold Contributor

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    if you're using arduino, indeed the ATMEL requirement is 10kOhm
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    Last edited: Apr 11, 2021
  13. Thomas Rabbertz

    Thomas Rabbertz New Member

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    My Motion Simulator:
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    I don’t have much time at the moment but want to get the second pot gear/support installed this evening...I love my Lasercutter, best investment I ever done :)





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  14. RacingMat

    RacingMat Well-Known Member Gold Contributor

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    oh my! I'm so jealous :p

    can't imagine the price...
  15. Thomas Rabbertz

    Thomas Rabbertz New Member

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    well, wasn’t cheap but it did a great job while I was building the cockpit panels... and now the motion platform bits and pieces ;)
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  16. Thomas Rabbertz

    Thomas Rabbertz New Member

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    My Motion Simulator:
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    here in Germany we are not allowed to go to Homedepot as a privat person... this is screwing up my timeline to get this project going :(
    I really hate to pay twice the price for some nuts and bolds at the well known online stores but seems that’s the way we all have to go
    Stay tuned....
  17. SeatTime

    SeatTime Well-Known Member

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    My Motion Simulator:
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    Interesting,In Australia I get all my bolts nuts etc way cheaper on-line then from any bricks and mortar store. They deliver quickly too.
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  18. Thomas Rabbertz

    Thomas Rabbertz New Member

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    i always wanted to move to Australia :)
    Here it is really annoying. Today I was just missing some M8 screws for the Alu-Framework
  19. noorbeast

    noorbeast VR Tassie Devil Staff Member Moderator Race Director

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    My Motion Simulator:
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    There are lots of good things about Down Under, but the price we pay for stuff like imported specialty electronic goods, if you can actually get what you want at all, is not one of them. Where I am on the East Coast of Tassie you pretty much have to plan in advance and order everything, as Launceston 2hrs away is about the closest place to pop into a specialty shop for even basic things like nuts and bolts. I allow a month for a lot of the stuff I order from overseas, and a week for what I order locally.
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    Last edited: Apr 19, 2021
  20. Thomas Rabbertz

    Thomas Rabbertz New Member

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    oh, I better stop to complain if I need to wait two days instead of driving five minutes to the local store ;)
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    Last edited by a moderator: Apr 19, 2021
  21. Thomas Rabbertz

    Thomas Rabbertz New Member

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    hmm... today I got a hand on two additional wheelchair motors and I am struggling to decide if I should continue to work on my experimental robot wrist setup or go the standard 3dof route