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Wickie´s 6DOF Sim

Discussion in 'DIY Motion Simulator Projects' started by PeterW, Aug 3, 2019.

  1. FargusFaustmeister

    FargusFaustmeister Member

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    Sorry for the late reply mate. Full disclaimer: I have not tested the results of the calculator and cannot attest to the accuracy, reliability, or even correctness. It should be used as a reference only and all calculations should be double checked by the user! I take no responsibility for injury to person, property, or pride for errors that occur as a result of using this calculator. That being said, you can find it here:

    https://drive.google.com/file/d/1CuQhSr5zJHnM1h7SYQLzSrJocd25t54l/view?usp=sharing

    It isn't as nice as Dirty's calculator, which I based mine off somewhat, but it is a good place to start. It doesn't take rotational inertia into account and those speeds are only theoretical, unloaded values. Good place to test from though.
    • Like Like x 3
  2. BDZ

    BDZ New Member

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    hey mate, how has it all been going? do the ODrives play up at all from time to time? or does everything seem to be working now that you have it all up and running?
  3. Petertje

    Petertje “Engineering changes the world.” —Isaac Asimov Gold Contributor

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    My Motion Simulator:
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    hi @PeterW , question about your pimax vr set. Are you happy with it, and could you share your computer specs? I'm making a similar hexapod and I think a triple large screen setup adds a lot of weight, and also I'm not so sure if the screens will survive the high acceleration forces.
    I tried HTC and oculus and I'm not convinced, especially fov is disappointing.
  4. PeterW

    PeterW alias Wickie

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    Hi @BDZ
    Sorry for my late reply - i missed your post.
    The Odrives doing a good job now, but the speed is still limited to something around 3000 rpm.... This seems to be a result of the low inductance of the bldc motors I use. I am working on an improvement.....
    Wickie
    • Like Like x 1
    Last edited: Jun 2, 2020
  5. PeterW

    PeterW alias Wickie

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    My Motion Simulator:
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    Hi @Petertje
    My pimax is one from the first batches- so has some problems like cracks in the housing, cable problems and bad service..... also the belt-headstrap is not a good solution for use in a motion sim.....
    Beside this its a good headset.
    Today I had the chance to compare it with the Valve Index. I think the picture quality is little better in the valve, but the bigger FOV of the Pimax wins in my opinion.
    Regarding my PC: i have a 2080 graphic card, a good i5 processor and 16 GB ram. The system is well balanced - so no bottleneck. I run assetto corsa 2 with max settings, pitool at 0,75 and steam supersampling at 200%. With this settings everything runs buttersmooth. BUT i never did a race with more than 3 cars so far - so more could be lead to unacceptable frame rates. I think the processor should be better for this...
    Wickie
    • Useful Useful x 1
  6. Petertje

    Petertje “Engineering changes the world.” —Isaac Asimov Gold Contributor

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    ah tx, useful! I can always mount the VR on a helmet to get rid of the bad mounting, integrate sound en have a full immersion setup :)
  7. mshockey22

    mshockey22 New Member

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    Wickie - ready through your build and SilentChill's - Getting ready to start my own 6DOF build. Comparing this setup to an AASD Thanos setup. I'm very impressed with both setups, but would like to hear the advantages of this one and what lead you to choose it. The Thanos setup looks pretty clean with nice enclosures for everything and appears to have some pretty good online support. Size isn't an issue for me, I don't mind paying a little more, and ultimately am just looking for power, functionality, and reliability.

    Amazing job with the build! This is some great stuff!!
    • Like Like x 1
  8. Petertje

    Petertje “Engineering changes the world.” —Isaac Asimov Gold Contributor

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    My Motion Simulator:
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    I'm building a 6DOF rig also, and have the Thanos board and VFCdrive-servomotor combo. No large power supply needed. Silent, strong and integration with mover and simtools. Many people use this setup as I can read here, and are happy with it. If you are looking for plug and play, reliability, compatibility and performance this is a very good option.

    I agree with Wicky that a small round motor makes for a real nice clean cylinder look. You also cant argue with the results: its a badass rig!
  9. ryanosman

    ryanosman New Member

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    My Motion Simulator:
    3DOF, DC motor, AC motor, Arduino, Motion platform, 6DOF
    What about motion compensation? When you are racing a car, and you are turning hard to the right, and the sim tilts hard to the left to simulate the feeling of being "pushed" right by the car (and so your head also actually tilts to the left), does the horizon stay level on the pimax screen (since it should... because the car and the track are still level in the simulation)? Either a) this is how the pimax works via using it's built in motion compensation that I've heard about, or b) you have no motion compensation but you have your motion set mildly enough that your rig doesn't roll/pitch enough that it irritates you.

    Love your rig btw, inspired me to go with 44v, 100A, 4400Watt BLDC 192KV motors, and Odrives. Thank you for spending so much effort sharing your experiences.
    Last edited: Jun 8, 2020
  10. noorbeast

    noorbeast VR Tassie Devil Staff Member Moderator Race Director

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    My Motion Simulator:
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    You can choose to use the built in PiTools motion compensation, or the OpenVR Motion Compensation, in either case they will cancel out the rig motion from the VR HMD view, the latter is under rapid development by members: https://www.xsimulator.net/community/threads/openvr-motioncompensation.14576/

    Minimising large axis movements of 6DOF rigs sort of defeats the purpose of building one, though it is possible.
    • Agree Agree x 1
  11. ryanosman

    ryanosman New Member

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    My Motion Simulator:
    3DOF, DC motor, AC motor, Arduino, Motion platform, 6DOF
    This research paper, based on 2700 tests using 15 participants, is pure gold. Worthwhile reading for all of us. Thank you so much to lromaniuk for posting that link.
    • Agree Agree x 1
  12. ryanosman

    ryanosman New Member

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    Thank you noorbeast. I intend on having liberally over-accentuated movement (more of an arcade type of configuration), so this issue is very intriguing to me.

    How do you have your software configured regarding motion compensation Wickie? Any comments on it's effectiveness? (Thx!)
  13. PeterW

    PeterW alias Wickie

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    Hi @ryanosman
    I am using the Pimax motion cancellation with a vive tracker that works absolutely perfect. Also the fast strokes and fine vibrations are no problem at all. You really cant see any rig movements when motion cancellation is on.
    One important thing is to fix the tracker super strong so that it cant move or wobble at all!!
    Wickie
    • Informative Informative x 1
  14. ryanosman

    ryanosman New Member

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    (Hi again Peter) I see this problem too. I cannot push my motor anywhere near the limits of the odrive or the motor. According to the specs I am supposed to be able to achieve 100 amps and ~6000rpm unloaded. I want to find the limits of what kind of weight I can lift at what kind of speed, but the odrive keeps erroring at 3000..4000rpm. I would very much like to be informed of these improvements... I would even gladly do some bench testing to help. Do you have a conversation going somewhere with anyone more knowledgeable with odrives on this issue?
  15. PeterW

    PeterW alias Wickie

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    Hi @ryanosman
    I had some conversations about this Topic with SilentChill and insectatech, but with no final solution.
    SilentChill seems not to have this kind of Problem! Maybe it is because he is using different motors (turnigly aerodrive 6364 190KV)? In order to find this out, yesterday I ordered this type of Motor (backorder). So I will check this.
    There are also some discussions in the Odrive-forum regarding this topic and it seems its a known Problem without a common solution.
    The next weeks and months I will build a test stand and try to find an improvement.

    One big improvement in my Project to avoid errors was, to introduce crash-filters in the mover interface in order to avoid huge peaks in changing the direction.

    Finally I have to say, that 3000 rpm is really fast with this drives (see my videos). So for me it would be ok to stay at this Speed...
    Wickie
    • Like Like x 2
  16. IANFXUSA

    IANFXUSA 737-NG Home Gold Contributor

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    Hi, Stay away from the Odrive products - you'll thank me.
  17. SilentChill

    SilentChill Problem Maker

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    He already got his ODrives and has built an actuator
    • Like Like x 1
  18. PeterW

    PeterW alias Wickie

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    Hi all and @IANFXUSA and @SilentChill

    Some weeks ago I changed my firmware to the one silentchill and @Will974 is using. And what can I say - its running perfect also at high speed without any problems at all!! So this Odrive topic is solved! But I think nobody knows why in detail.
    I will make a larger update to my project the next weeks....
    Wickie
    • Like Like x 4
  19. Adrian Culda

    Adrian Culda Member Gold Contributor

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    Which firmware is that V0.5.1 ??
  20. BDZ

    BDZ New Member

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    awesome news! are you still using the original motors? did the motor you ordered from Hobbyking to test ever arrive?