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Open Brushless Gimbal

by turbi, published

Open Brushless Gimbal by turbi Jun 29, 2013
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80712Views 8942Downloads Found in R/C Vehicles

Summary

07/11/2013
A new fixation arm for the Eflite 350 QX quadricopter
21/07/2013:
-Update arm3 and suspension frame, wider and stiffer
-Add a gopro 1 and Gopro 2 box

You can now download the complet SW 2013 file (sorry §I can't make SW 2012 files) :
https://docs.google.com/file/d/0B01j3oTQObOhbzNLY0E5NEp3UE0/edit?usp=sharing

and the STEP files :
https://docs.google.com/file/d/0B01j3oTQObOhVlhQYngzMEMxU00/edit?usp=sharing

I'm working on printed molds for silicon dampers , it works, but need some improvements :
http://www.thingiverse.com/thing:118365
This is the version 2 of the WBG (W Bruhsless Gimbal), with a new suspension system.

More informations in french :
http://openbrushlessgimbal.blogspot.fr/

This gimbal must be used with 22mm brushless motors and brushless gimball controler.
Achieve in the free Multicopters Wadudu project, sponsored by the Regional Council of Aquitaine (France). Read more wadudu.fr

For the moment only the gopro hero 3 can be used, other cam adapter are coming soon..

The electonic card is a drotek Brushless Gimbal Controller V2
http://www.drotek.fr/shop/en/home/168-brushless-gimbal-controller.html

The motors are protronik brushless gimbal motors : Kv 120 gimbal special 2210G

The alimentaiton is made with a 3S lipo.

The firmware is alexmos V2.

And a test video , the good one this time ;)
http://www.youtube.com/watch?v=GqpLaINocbk

Instructions

Printed with PLA 80% filling.

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salut
merci pour ton partage
je viens d imprimer les pièces
j'ai un souci pour la mettre sur le phantom
a tu par hasard cree depuit un support avec L entraxe pour la fixation du phantom ?
dans tout les cas encore merci pour le boulot

Can you point me in the right direction? What electronics do I need for this? Has anyone ordered the parts needed from hobbyking or another website?

Jan 25, 2015 - Modified Jan 26, 2015

Salut, j'aimerais bien replacer mon gimbal "chinois" en alu par ton superbe modèle.
Pourais tu me dire la distance du bas de la gopro jusqu'au haut du gimbal. C'est pour placé sur un Dji Phantom et j'aimerais garder les pattes d'origine. La gimbal "chinoise" me laisse environ ~5mm d'espace sous le quad.

Merci !

edit : J'ai finalement ouvert les fichiers dans solidworks et validé par moi-même. Je gagne environ 10mm en hauteur ce qui est vaiment bien.

Hey Turbi, thx for this awesome design.

do you have a box for the SJ4000?

Greetings from Germany

I've just printed this gimbal and only after assembling it I've noticed that roll axis is not centered on the lens. As a result it requires off set mount to have the lens centered under the quad.

Hi Kornik
It's true, but it have absolutly no effect ont the video . And if you have a doubt about that, just look at the zen muse DJI, it's the same configuraton.

it hold the gopro strong enough ?

turbi - in reply to kuiko

it depends on your print, but if you doubt, you can add a peace of tape or some foam.

kuiko - in reply to turbi

thenx can you upload the top parts that show in the photo ?
it looks smaller and i want to try it please

This is a very well designed gimbal, and i will be happy when i am flying with it! Nice Job!

thanks for your comment ;)

Salut Julien merci pour ton partage c'est du travail de Pro....

Salut !! tout est très beau !! J'aurais une question: Quelle sont les élément nécessaire si je veux utiliser la sortie gimbal que me donne le controlleur DJI Naza

Bonjour
Merci pour votre intérêt pour ma nacelle. Pour les fichiers, il suffit de télécharger les STL qui sont utilisables dans sketchup.
Teji tu peux me contacter sur turbi40 chez http://gmail.comgmail.com

bonjours , idem pour moi et le phantom vision , je suis de prêt ce sujet
serait t il possible d avoir ce fichier modifiable sous sketchup ou catia car je ne possède pas de logiciel pour ouvrir vos fichier sldprt
merci

Bonjour, Félicitations ! C'est du TRES beau travail ! je viens d'imprimer ces pièces, c'est TOP ! Je voudrais l'adapter au phantom vision (caméra dédiée). J'ai fait le Holder de la caméra, c'est bon ! Je devrais juste peut-être allonger vos pièces car la caméra est plus grosse. Donc aussi revoir l'équilibrage et tout et tout ! Mon idée est de faire comme vous, de mettre le résultat de mon travail à la disposition de tous, en "open". En effet les gimbal actuelle pour le phantom sont hors de prix ou sont en précommande avec des délais de plusieurs mois ! Ces hobbies doivent rester abordables. Bref quoi qu'il en soit, je voulais poser ces questions :

D'avance merci pour vos réponses, et à bientôt j'espère !
TéJi

Idéalement, il faudrait mettre les coussins en compression un peu comme la Tarot. Mais très beau design.

C'est une idée en effet pour la prochaine version ;)

This is a nice start for a simple gimbal, but you should not use this as is. There is a slight design flaw in this configuration. The only thing holding your camera on is the four rubber shocks. In this design the shocks will be ineffective since the weight of the camera will be pulling them to their limit. Any quick movement from a quadcopter or something moving will make your camera go flying somewhere else. The following needs to be done to make this more useful. The lower X should be more of a square with a hole in the center, allowing the support arm to pass through without interference. The support arm that should be longer at the top allowing it to pass freely through the lower plate, and attaching to the top plate. This will in fact squish the shocks and allow a more stable platform without fear of your camera falling from the weight of itself.

Salut Turbi,
Tout d'abord, super boulot. J'aime beacoup le design/concept.
J'envisage sérieusement d'en faire faire une, mais j'ai un doute sur le fait que l'on puisse incliné une Gopro 2 à 90° sans que le caisson bute sur l'axe du roll.
Peux tu m'éclairer sur le sujet? J'ai vu également que tu avais fait une version mono bras, est-ce que celle ci est plus adaptée?
Merci!

turbi - in reply to yd-76

la camera peut sans problème filmer à 90 vers le bas. Si le moteur de rolle est trop profond vers l'avant, il suffit de faire coulisser la bague qui entoure le moteur de roll et bien sur recouper l'axe du moteur au ras.
La version avec le bras monobloc sur sculptéo est optimisée pour une imprimante à poudre. Pour une imprimante reprap c'est quasi impossible à imprimer en version monobloc

yd-76 - in reply to turbi

Merci pour la réponse rapide, tu m'as convaincu, je vais me lancer avec la version mono bloc (je compte passer par sculpteo) :-)

Je pense qu'il vaudrait mieux avoir la GoPro accrochée par l'autre côté, ainsi le capteur serait bien mieux aligné avec le centre de rotation du moteur 1.

Salut Montspy
Merci pour ton message.
On m'a fait cette remarque pas mal de fois :

  • Le fait d'avoir l'objectif désaxé n'a absolument aucune effet sur la stabilisation de la video. L'objectif pourrait se trouver à 10 mètres de l'axe de rotation ce serait pareil.
  • Fixer la gopro de ce côté permet de conserver l’accès à la carte et au connecteurs, indispensable pour le FPV.

WOAO!!! Congratulations! Excellent work.

this deserves my congratulations !

Bonjour turbi,
J'adore ce design.
Mais je ne vois pas d'emplacement, sur la nacelle, pour le capteur ACC associé au controleur Alexmos.
Est ce que tu colle le capteur sur la Gopro ?

Merci!

turbi - in reply to Thil77

Salut Thil77,
Je colle le capteur à la colle chaude sous le boitier de la gorpro, as sur la gopro elle même bien sur :)
Difficile de faire un logement universel pour les capteurs, ils sont tous une forme différente.

why in PLA and not in stonger ABS?
witch dampers do you use, 50gr, 80gr,100gr,200gr, 300grams??

Hi
I've nerver been able to print ABS, that's why I use PLA witch is realy more rigid than ABS anyway.
I use soft dampers, but it depends on a lot of parameters . The must have a 1cm fixation diameter.

Je te pique les deux bras ! Je vais faire un support amortie pour mettre la gimbal à l'avant de mon quad ! voudras tu le fichier SW2013 ?

Salut

Tu peux me piquer les bras :) mais ça fait mal. Je suis interessé par ton montage , je veux bien les fichiers . J'ai réalisé un montage comme ça sur mon quad, c'est ce genre de chose que tu veux faire ?

https://lh4.googleusercontent.com/-6i2j8uuv_VQ/Umv94DnQVMI/AAAAAAAATb0/WXjGPDrmvZg/w800-h456-no/image1.JPGhttps://lh4.googleusercontent....

Oui mais en un peu plus compact :)

Les fichiers seront dispo sous SW2013 ici (http://www.thingiverse.com/thing:172459)http://www.thingiverse.com/thi... dans pas trop longtemps (je dois le finir avant l'hiver).

A bientot !

Quad Spyda style gimbal V1.1
by Ponpont

What's the best way to deal with the motor shafts, do you cut them down or replace them with short ones?

Yes I cut motorshaft with a dremel.

Hi!

i just printed and assembled your wonderful creation. But now that i look at it i am a bit worried that it might be a bit too limited in the roll angle? what is your experience with that?

Cheers,
ales

No problem with roll in flight as long as I dont make hard acrro in flight :)

Hello, I have just noticed that your design has been stolen and is being sold on shapeways here: https://www.shapeways.com/shops/delairehttps://www.shapeways.com/shop... I have alerted shapeways, but thought you should know too.

Thanks for your mesage IronAwe, the problem is solved. ;)

where do you put the IMU?

I put the imu on the multicopter frame

Just printed it off and about to order the motors and controller. One concern on the Hero 3, I'm worried the camera might work loose of the camera box during flight and sustain damage, especially in a crash or hard landing. Would prefer a box that positively locks the camera in. As it is I'm planning to hold it in with a rubber band but it would be nice if the box surrounded the camera body better.. Otherwise looking good and can't wait to give it a try. -Mark

Thanks for your message, I knox this problem, you've just to add a piece of foam on the back of the camera box

I see one problem with this design: The roll rotation axis and the lens. The camera isn't rotation on the optical axis of the camera (the center of the lens). This will cause distortions when in the air.

Sorry you're wrong, it would be interesting that you explain how it could make distrosion. None of my videos has distorsions.

At the distance that most multicopters film, x and y translations mean nothing. even if you were filming something 1m away, 50mm of translation in non noticable at all. (just think that the multicopter is moving up and down much more than that during "hover"). Doing the trigonometry: If you align the GoPro's far edge with the roll axis, the translation of the lense caused by rotating the gimbal a full 360 degrees would equal a maximum of about 5 degrees of angular rotation if filming something at arms length. Obviously this angle reduces if you film something further away. By the time you film something 10m away, the equivalent angle is half a degree.

equivalent_angle = atan(gopro_width/dist_to_object)
atan(60/1400) = 4.9 degrees

Just finished printing the gimbal and started assembly.
First, the mounting holes does not fit the RCTimer motor very well, had to widen them a little bit.
Second, i see is that the arms are to short. Both roll and tilt are limited.
Third, the Hero3 is not balanced at all...
Any way we can try to fix this? I do not have solidworks.

turbi - in reply to blunde

Hi
Thanks for your feed back.
The design oh the gimbal is still in progress.
For the motors holl, it's not a big problem, it's impossible to be adjsted to all motor.
You say roll and tilt are limited, you mean you can't do 360° : its normal. When I fly with my multicopter, I rarely make rolls or loops ! The amplitude is enought to make al pictures you want.
And if you have an application for 360° stabilisation, what will you do with th wires ?
The Hero 3 is not perfectly balanced, the universal gimabal doesn't exist, but with this design, you can use Gopro2 without modifications.
It's not perfectly balanced BUT, it works great like that, it's the goal.

blunde - in reply to turbi

Understand the design is in progress!
You have done a really good job so far :)

The roll axis isn't that bad. Measured it to be restricted to 30-40 degrees. If the back arm is extended a few mm it's probably ok.

The tilt is the biggest problem. Restricted to about 15 degrees.
I would like to be able to tilt the camera 90 degrees to look down.

chka - in reply to blunde

Is it not possible to look down to the ground?

Nice job.

For you what is needed to put a camera (type compact canon 10 cm width 6 cm height)?

Thanks

What settings do you have on your controller? I got it printed and mine works turning it one way, the other way it works sloooow, but if i turn it quick it jumps way over .. :-/ not stable

TJWeb - in reply to TJWeb

Got it a little better now. Tried gopro 3 case its not balanced at all :-/ gopro 2 is pretty good but gopro 3 its too heavy on the left side (tilt motor)

turbi - in reply to TJWeb

I know it's not perfect for the balance, but it has absolutly no effect on the stabilisation. The gimbal cant be perfectly balanced for all the camera, but it works like that, with a very simple and light gimbal.

My controler use alexmos sofware. Settings depends of your motors. It is very important to use very flexible wire. I think your problems come from the settings. You should decrease P and motor power.

Is there anyway you can save the assembly as a STEP file and post it here? It would be greatly appreciated. That way I can import to Solidworks. Thank you so much!!!

Oh sorry I just saw your post of the STEP file on Google docs.....Thank you!!!

22mm brushless is that 28mm diameter? I bought RC Timer 2122 and they have 28 mm diameter outside :-/ would love this files to sketchup so i could edit to fit my gimball motors

turbi - in reply to TJWeb

Hi
You're wright : 22mm motors is the stator diameter. The real dimension of the motor is 28mm exterior

I don't thinks you could edit this file with sketchup. Whitch diameter do you need ?

TJWeb - in reply to turbi

I got 28 mm exterior :) So they fit perfectly actually :) Thanks. The problem is now with the gopro case, as you see in this image the rctimer 2212 motors have a rod in the center which goes out a long way :-/

Hi. Which motors do you use on this gimbal?

Great design!

Best,
Ales

Hi
I use 22mm brushless motors special for gimbal. You can find on rctimer shop for example or goodluckbuy

How much does your gimbal with Motors weigh?

did you ever get an answer to this question? i too am interested in an approxmiate weight of the gimbal + motors.

You wouldn´t by any chance have a mount for a Contour Roam in the making?

unfortunately the contour cam is very different with the gopro. No adaptation possible for the moment.

Sorry, I don't understand what is a contour roam ?

It happens to be my camera, http://global.contour.com/http://global.contour.com/ I don´t unfortunately own an gopro.

Just need the same thing for gopro 2 ;)

Hi
But there is an stl file for the gopro 1 and 2 :)

oh ! Sorry for that ! Thanks again for sharing. if you have time, go see altituderc(dot)com

Hello!

Is there anyway that you can save your Solidworks Assembly to Solidworks 2012? I downloaded your assembly but when I opened it said it was a future version so I am assuming it was created in 2013? Also, did you "pack and go" so it collected all the piece part files as well as the assembly file? Thank you! great work from what i see!

Upload the assembly file as a .STEP and then most CAD programs can use it.

thanks for the advice I'm a newbe on 3d drawings, here is the STEP, tell me if I don't export with the good options :

https://docs.google.com/file/d/0B01j3oTQObOhVlhQYngzMEMxU00/edit?usp=sharinghttps://docs.google.com/file/d...

Hi,

Could you add a version for gb2208 motors with 12mm hole spacing at the gopro box and on arm3? I don't have solidworks so i'm stuck. Here is a the schematics:
http://www.elektromodelle.ch/bilder/produkte/gross/Gimbal-Brushless-Motor-GB2208-80-T-Motor_b4.jpghttp://www.elektromodelle.ch/b....

Thanks!

For those in the US, there's a RCTimer reseller in Texas that stocks the gimbal and controller - http://uavobjects.comuavobjects.com. I got my parts in 2 days with media mail.- ted

Gimbal motors. http://www.uavobjects.com/product/gimbal-brushless-motor-hp2212/http://www.uavobjects.com/prod...

Gimbal controller. http://www.uavobjects.com/product/rctimer-2-axis-brushless-gimbal-controller-v1-0/http://www.uavobjects.com/prod...

HI Turbi,
i startet to print this very good looking Gimbal yesterday. In the Damper Frame i found a mistake in the .stl. The Stiffner are not connected with the Ground plate. As i do not have solidworks and it is eventually interesting for other users, could you Please connect the two parts?
The Idea and construction is great!

="thingiverse-0665e5e39f3a1d114563def347448c0c:disqus" href="http://disqus.com/thingiverse-0665e5e39f3a1d114563def347448c0c/turbi Is it possible to mount the arm on the opposite side of the gopro? Since the lens is closer to that edge, you might be able to get the lens closer to the center of roll rotation. Not sure what's involved with it, plan to print a set real soon!- ted

It's funny , allways the same question ;). Could you tell me why you think the videos could be better with the lens on the roll axis? Mabr there is somthing I don't understand ?
In the facts, It have no effect on the videos .
But if you like you can change the orientation of the arm, but you lose all accesses to the plugs on the go pro .

="thingiverse-0665e5e39f3a1d114563def347448c0c:disqus" href="http://disqus.com/thingiverse-0665e5e39f3a1d114563def347448c0c/turbi

Sorry man! Missed the comment from ="thingiverse-cc056b1a6ed9b5eb4a51dd860eaacb87:disqus" href="http://disqus.com/thingiverse-cc056b1a6ed9b5eb4a51dd860eaacb87/aadamson . Here's my thinkin' .... EDIT: Not a rant, happy to take it offline. Just some good chatting to answer the question: Should a camera lens be centered on its gimbal axis of rotation?

I'm going on the assumption it is preferable to correct for roll rather than translation in post edits.

I figure any movement on the roll axis is multiplied by the distance from center of rotation. For example, if the gimbal corrects for 3 degrees of roll in one direction, a perfectly-centered lens will only show the roll correction in that axis on the video. Whereas a lens that is offset from center will show both roll and translation in the video.

Am I off base here? In your experience, do you think this amount of translation is negligable when viewing the video? Appreciate the discussion.- ted

Hi Ted

Thank you for your message and your explanation. Whatever the correction on the roll, the camera remains perfectly still in space and perfectly horizontal. There is no translation of the camera even though it was located very far from the axis. There would be on the roll axis if the axis was controllable, but in my mounting the roll axis movements only compensates multicopter.

I noticed that the GP3 isn't centered in front of the rear gimbal motor. Have you designed this for balance and as a result of the offset, won't the stabilization be not as accurate as it could be due to the offset of the lense from the central pivot?

Hi aadamson
I draw it like to have a good balance and a full acces to the connectors.
The result is that the lens is not on the roll motor axis, but it have absolutely no effect on the video stabilisation. The lens could be at one meter from the roll axis, the video would be as good as if it was on the motor axis.

Thanks for the comment, I'm going to print one and give it try! Excellent work! Will you share the solid works files?

Yes I'll share SW parts, this week.

I've desigend it on solidworks. I'll share files but I'm doing some adjustements on the gimbal suport. I'll update the files soon.

The good video test is here :

http://www.youtube.com/watch?v=GqpLaINocbkhttp://www.youtube.com/watch?v...

Do you have the solidworks files ready? I'd like to modify the design slightly to fit my motors.

Can you upload the rest of the files? Solidworks still needs the other files otherwise it won't let anyone edit the parts.
Solidworks assemblies still need the part files for it to work.

Interested in publishing the design files? (Sketchup?)

Nice design, how well do you find it performs when the lens is not in line with the roll axis?

Hi
thanks for your comments. I have updated the description, and renamed the .STL

Doensi - in reply to turbi

Great. Thanks. Where can I get the brushless motors?
Kai

Technical data about the equipment used would be great !!!!
Thanks for joining

Beautiful gimbal. Motor on the photos ?

which gimbal controller are you using with this? Any video?

Great looking gimbal

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