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DesignCell

6DOF v2

by DesignCell Jan 14, 2017
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Hi Jeff Underly, cordial greetings.
I hope everything is going great with you and else.

I kindly ask you for the .scad or .dwg file of the Stewart platform design.
Can you share with me the .scad or .dwg files? I want to change the dimensions of the pieces. I'm involved in the construction of a small prototype based on the concept of the Stewart platform for wave energy extraction.

Maybe we can collaborate for research and academic purposes.
My e-mail is: dgalvan@cicese.edu.mx or oztornadosdiego@gmail.com

Thank you so much in advance.
Best regards,
Diego.

Also, this might work better with a capacitive touch screen, not a resistive one

I would have to research capacitive more.

The resistive screen was cheap and easy to read with just an XY position. Also, the metal bearing reacted very well with the screen. The issue I ran into was the computational overhead of reading the analog position and calculating the reaction through an arduino. I tested a teensy 3.6 a while back on a different project and it showed massive improvements running what was probably not the most efficient algorithm.

If you had the servos offset to the side, then you could make it so the servo head pushes more in line with the piston. Currently, it is pushing it into the side which most likely causes unnecessary friction.

I'm right there with you. Moving the servo to the side offers several other improved design opportunities like more compact design, higher mechanical advantage, and increased frame to rod engagement for improved stiffness while extended. Since I kicked these out I've wanted to go through and refine the design and make several configurations for a range of sizes. Once I worked up the proof of concept used here I knew there was a lot of potential but I just haven't had the time required to really flesh it out.

Printed out great! Thanks for this great design! I have a few videos on my channel about it. I used inverse kinematics motion control code on it and it's dead on!

https://youtu.be/h0-sVKf0o8o
https://youtu.be/1ZIeaXcymzI

Thanks!

Thats awesome! I'm glad to see it have some use. I'm not using a simulator to control it, just simply calculating the actuator joint to joint distances and triggering the servo angle. My goal is to have it balance the bearing but I need to find time to refine the logic. I also have the v1 which I think is a much cleaner design but I haven't quite figured out the inverse kinematics for radial arm actuators that are at an angle.

I eventually plan to design up a series of linear actuators for different applications too.

The main use for 6DOF motion platforms was always for Motion Simulators but of course there are many other applications as well.

I mentioned you on my blog for your great design:
http://motionsim.blogspot.com/2017/03/new-miniservo-6dof-platform-that-easy.html

Thanks
Thanos

Thank you, still trying to find the time to refine the pid loop.

very cool! Using an Arduino to control it? Can you share details about the electronics and your code?

I've posted the arduino sketch and fritzing schematic. Let me know if you're able to refine it further.

I'm running this through an arduino uno with a 16 channel servo driver. The arduino scans the 7" screen to determine X and Y position and I currently have the position directly scaled to the platform angle and displacement. I only have the proportional part of the loop so it's not able to stabilize. Still need to figure out the internal portion of the loop. My programs calculations are all shown on the excel sheet in the thing files.
Regards,