Showroom Compact AC Servo 6DOF Rotary Stewart platform

what the unit of the 70? 70mm?
and which axis of servo is the 1st servo and which is the second?

The motor you see in the image you posted, is #1, then it goes clockwise from there, 2,3....6.

thank you and what the unit of the 70？mm？

If you mean the motor, I use 80mm servos
https://www.aliexpress.com/item/32844239563.html

Is that what you are referencing?

sorry, I puzzled with this "70"

That was the distance from the center of the two connection points - to a connecting point, so the distance between two connecting points is ... 140 mm = 14cm as shown


may have more detail photos in this album as well, https://photos.app.goo.gl/6UpUdS5Q1otJAuhEA

What is the size of that round iron plate?

31 inch diameter, 1/2 inch thick.

Is the swing arm perpendicular to the ground?

The swing arms are perfectly horizontal with the ground., At the home position.

How much kilograms can this support?

My chassis weights about 100lbs/45kg, and I have had people 250lbs/113kg - so 350lbs/158kg, .... was the max load I have applied, and was handled without issue, ...

Hi, brother, can you use this in 4DOF? Look forward to your reply

designed for 6dof only, though technically I did use this on a 2DOF when I was getting it up and running,..

How do you suggest to set up simtools?

For Controller setup



For game setup - I made a video walking through tuning BeamNG,... but the process is the same for each game.

hi. nice rig. how are you powering everything? what power supply(s) are you using?

220v line, then to the servo drivers(aasd15a) that come with the 750w ac servo/motors, check out the build album... I've got them all stuffed in a 6u server box

Sir，I have few questions and I will be really appreciated if you could enlighten me.
1: what is the voltage level of the servo controller pulses,24v or 5v.I’m having these two options here and I seriously don’t know how to choose it.
2: as picture of your controller box shows,there are four more pcbs on the upper area (except the controller board)I don’t understand,would you be kind to tell me what they are for.

3: there are several values I couldn’t understand about the platform positions such as “therta_v”.
4: does the platform has any geometric limitations to fit your controller code when building it. Or just being steward is enough.
5: what’s the android file in your GitHub for, is it a tuning app for controller?
Thank you very much for sharing this build album.

1: what is the voltage level of the servo controller pulses,24v or 5v.I’m having these two options here and I seriously don’t know how to choose it.

the PCB sends the servo driver 5v signals for position control, there is also a 12v line that is used for the arm position sensor /hal sensor.

2: as picture of your controller box shows,there are four more pcbs on the upper area (except the controller board)I don’t understand,would you be kind to tell me what they are for.

Those extra PCB's where for when I intially overengineered the design,. .. they are not used, ... I just kept them on the panel because I made the panel for all those pcbs... and now would look naked without most of the pcbs..... true story.

3: there are several values I couldn’t understand about the platform positions such as “therta_v”.
theta

Check out the excel file in the technical folder in the github project () , it describes and illustrates the algorithm used in the microcontroller. it also allows you to visually see the motion with inputs, and change sizes, and see effect.. it works best in Microsoft Excel ,.. it kinda works in Google sheets... i reccomend snagging a trial of excel and investigate the file. it also defines each variable.

I did not make this file. just reverse engineered the concept to C++ code
https://github.com/knaufinator/6DOF...aster/Technical/StewartPlatformSimulator.xlsm



4: does the platform has any geometric limitations to fit your controller code when building it. Or just being steward is enough.

the microcode is based off the excel file algorithm, but any realistic 6dof rotary orientation will work.

5: what’s the android file in your GitHub for, is it a tuning app for controller?

That was me overengineering things again,... it is not needed, most useful thing it has is a pause button,.. but was the start of me making an interface for custom filtering ... and parameter setting.... I spent a pretty dedicated 2 years on the project ,.. I decided to walk away for awhile...


Thank you very much for sharing this build album.