Primbal - 3D Printed 3-Axis Brushless Camera Gimbal for XiaomiYi/GoPro

by Velocirotor Jun 7, 2016
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Very nice design although I was afraid about thin parts. I made the prints and it seems good. But I experiment trouble to find M1x12mm screws... Do you have an address? Thks.

Hi pacheth, sorry I think I may have meant M1.6 bolts when I said M1. I find the best place to get M1.6 bolts is at local hardware stores with dedicated hardware sections. Otherwise Amazon or other industrial supply website may have it. If you don't want to use M1.6 you may also want to check out the V3 version of this gimbal https://www.thingiverse.com/thing:2538360 which does not require anything less than M2. Thanks.

Primbal V3 - 3 Axis Brushless Gimbal for Yi/GoPro

Can you make an adapter for the gopro session?

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Good job !
You wrote "Controller: Micro Storm32 (unfortunately I do not recommend this model due to its limited functionality, but it works for this purpose).".
Which one would you recommend to fit with your design ?

Thanks mazkagaz. I would recommend the full size Storm32 board if you can get a hold of one. Otherwise pick any 3 axis controller you like.

Here is one example of a full size Storm32 board: https://www.banggood.com/Storm32BGC-NT-V1_3_F103RC-32-bit-Brushless-Gimbal-Control-Board-p-1105106.html

Awesome design! Can you please make a camera mount for the GoPro Session cameras?

Can anyone tell me what battery they are using and how long it lasts? Thanks!

Hey, first of all: awesome design! Exactly what I needed, everything I printed thus far fits perfectly. When I tried to assemble it, I noticed something weird...Turnigy seems to have rotated the screw holes by 90 degrees! So to make it fit with the motors (which are the same as yours), I need to rotate the screw holes on the two arms. Is there any way you could do just that in the original design? I would really appreciate it!

Nevermind, I think I managed to change it! If it prints flawlessly, I will upload it as a remix...maybe someone else has the same reversed screw holes :D

Hey tomkra, glad you got it figured out. Leave it to Hobbyking to slightly change their product design. If your changes don't work, I added new files with rotated mounting holes. Check the bottom of the parts list. Feel free to add your redesign as a remix anyway if it works. Good luck with the rest of the build!

Any chance of an assembly instructional video/tutorial?

There will be one in the future, but I have not had the time to get around to it. Possibly in the next few weeks but no guarantees. If it helps one of the pictures on here is an exploded view of the gimbal assembly, which should at least inform you what part goes where.

Is it possible to do this but for an iPhone? thx a lot, David

Hi David, I think a lot of the concepts used in this design could be adapted to fit the iPhone. The iPhone is significantly larger than an action cam though so there would still be some major design changes. The motors may also have to be larger. What model iPhone are you thinking of. I notice phone gimbals are getting more popular so I may look in to this and make a new design.

Sounds sick, I'm thinking about the iPhone 6/7 (the small one) Looking really forward to it. Have alto been thinking about it a lot.

hello velociroptor
I love your design it's very good work but I would like to see the systéme in action .You can publish or Send by mail a video demo and mount the device?
Rodrigue Richalland

Hi Rodrigue, sorry for the really late response, I have been very busy. I have attached a video in the post printing section of the gimbal in action. I will try to make a more hands on demo video in the future.

Thanks you very Mutch velocirotor ,I will probably make it later
But I wait for your video to have more explanations.If I understand the assembly of this gimbal there will be copies in France!

Man, I'm having a tough time figuring out how to put this together. I think I have all the parts printed that I need, but how are the tube clamps supposed to mount to the bottom vibration plate? Are you bonding them together with acetone or something? Also, can you tell me what rail spacing this is designed for? I'm trying to mount it on an S500 frame and the rails (tubes) seem too close together for this to fit without some modification.

The tube clamps can be superglued to the bottom vibration plate on the flat sides. Depending on the vibration dampening balls you use, you may need to trim the corners of the tube clamps to provide more clearance. The rail spacing is 68mm center to center.

I want one...
what angles can you move it in every direction? would it mechanically be possible to turn all axis 360°?

also, do you think i can use it in an inverted configuration as a handheld gimbal with a xiaomi yi?

There are two things that limit rotation: software and physical design. With regards to software, the following rules are specific to the Storm32, the type of gimbal controller I used. Other controllers may vary. Without a 2nd IMU (only using the IMU mounted by the camera), the roll and pitch are limited. Here is a quote by OlliW, the creator of Storm32:

"without a 2nd imu enabled the pitch range CAN'T be larger than +-45°
the roll range CAN'T be larger than +-90°, and that close to +-90° is, to say the least, unusual (+-80° is usual)
in some cases one can see that rolling makes the camera to yaw" - OlliW

I find I can rotate my pitch down 90 degrees even though I use only 1 IMU. With 2 IMUs, and most Storm32 controllers have 2 (one by the camera and one on the board) the rotation is virtually unlimited.

With regards to physical limitations, if you print the part 'YawArmFullClearance' you will be able to roll and pitch to any angle without hitting anything. If you print the part 'YawArmCompact' instead then you will be physically limited on roll to about +-60 degrees.

The real physical problem is the wires from the motors and IMU. You can't rotate full 360 without getting the wires tangled. The only way to avoid this is to have motors with hollow shafts and/or slip rings. You may be able to get 360 rotation on yaw if you have the gimbal controller mounted on the yaw arm and power the controller with a battery on the yaw arm.

Long story short with 1 IMU you can rotate approximately +-45 degrees on pitch and +-80 degrees on roll. With 2 IMUs you can rotate to any angle, but the physical design now defines max angles. With both 1 and 2 IMUs you can rotate the yaw 360 if you mount the controller and battery on the yaw arm, but with 1 IMU the yaw can drift over time.

An inverted configuration should be no problem. You may have to rework the vibration dampening system to better support an inverted load.

Great piece! Do you have any suggestions or size recommendations for the rubber dampers/ shock absorbers?

Thanks glandis! The rubber dampers should fit 7mm mounting holes. As far as dampening rating goes, it depends more on your multirotor setup, but between 100 and 200g works pretty well. Right now I am experimenting with foam earplugs and they seem to work great.

What length are the bolts you need?

Thanks for asking. I am out of town right now so I can't confirm for sure, but from pictures I can estimate the following. The four M1 bolts are 12mm, the six M2 bolts are 8mm, two of the M3 bolts are 6mm and the other four are 4mm (6mm shortened). I will update the thing details with the exact measurements when I get them.

Im going to print one for sure, honestly i cant find a decent 3 axis gimbal that works on our quads since everyone just has a phantom. Best part is it will only cost about $35 because ive got an micro alexmos board! Thanks a bunch

Thanks Ghostrider! Glad to see this gimbal help others out with their own builds.

In your notes you say you don't recommend the Micro Storm32 controller. Do you have any other controllers in mind that work well? Great job by the way!!

Thanks kenjancef! I don't recommend the micro storm32 because it is very difficult to flash and overheats on 3s. I've also had problems getting the 2nd IMU to work smoothly (so the IMU at the camera and IMU on the board work together for more accurate control). Overall though it works very well for what it is. So if you don't mind not updating the firmware (it is stock v0.68) and running it on 2s then it can work for you.

The other option is to go for the full size storm32 board. I did my best guesswork and have the STLs for a full size controller housing on Thingiverse as well.

Thanks for sharing this design! I'm going to make it, I just wanted to clarify the printing orientation for the motor arms, do you mean the slotted part of the arm flat of the bed so the arm is printed more or less vertically? Ie. 90 degrees from the position shown in the preview image?

Correct, so the slotted part is horizontal on the bed, and the motor housing part is vertical

Thanks! What infill do you recommend for the arms? I was going to try 3 perimeters (to allow for reasonably tight screws) and 20% infill...

That should work fine. Maybe go up to 25% infill on the yaw arm because it tends to get more stress.I'm not sure what perimeter/infill combination is best. I'm using 2 perimeters and 10% infill on the roll arm and it holds up just fine.

Both arms feel strong enough, I think stiffness is probably more important than strength.. the weak point is the middle section of the arm because of the orientation it's printed in so it snaps fairly easily (don't ask how I know this) but in practice I don't think it will encounter those kinds of stresses :)

Awesome Job Sir
Thank-you for Sharing

Thank you! I hope people will really benefit from this design.