Showroom "cheap" 6 dof odrive actuator motion rig (with lots of issues ^^ )

Hi all. After having tried to build a 2 dof system and not really liking it I'm back at it with some upgrades.


Some cad drawings.

Some building

Some testing.
.
And now i'm stuck with some major odrive issues ^^

It only works when you don't crash haha. I keep getting current violation errors. Absolutely tried everything. Upping the current limit. limiting the speed, expanding the current limit tolerances. I also keep having actuators intermittently not wanting to calibrate. One second they work and 5 min later they don't . Even after resetting everything. double checked all the connections and took apart every actuator for inspection but noting i could find wrong with them...

And for those wondering about the plastic motor mounts being the issue i've already upgraded those for aluminum ones.



To no avail...

Hi Joey!
Congratulation for your nearly finished sim
!
Dont worry too much - you will find the error and will have a lot of fun in the future!
I try to help you as good as I can.
So first question: what brake resistors do you use ? And could you upload or send your Odrive - config for a first look?
Wickie

I'm using the standard 50w 0.5ohm resistors. They don't run hot, cold actually so i figured they're fine?
And here you are:
Side note: In this config file I lowered the current settings. Its how its setup now for testing.

Update: I've got some 50w braking resistors from a friend. 6 of them each 0.5ohm so if i put 2 of them in series that should give me 100w 1.0 ohms right?
Lets hope it works ^^

Motor coupler snapped clean off

And still fighting with those damned odrives....
I've tried about everything I can think off but nothing seem to work... Very close to giving up and just buy a thanos system

Hi @Joey those flexible couplers are not really designed for the type of loading your likey to see in our actuators they are better for slight misalignment axially but not great at torque transmission (in my opinion ) the better type is what i call the Cushdrive coupler basically 3 piece assembly made up 2 drive couplers end fittings with solid rubber middle insert which allows limited axial movment but allows for great torque transmission .. will posta pic later these are usually found in SFX type actuators will be better suited , so dont give up yet as youve invested a lot in this so far and by looks of things your close to having the system you need

Yup already ordered 6 of those

how do you drive the platform?

You mean the software? Flypt Although its a hell of lot more complicated than simtools

I think it is very different from simtools

Yup but you can do so much more with it. Not to bash on simtools but its very very basic compared to flypt. I'm a pretty advanced programmer but the amount of stuff you can tweak in flypt is mind bogling. I havent really got to the point of really finetuning the movement but you can do stuff like making the rig move backwards when accalerating than slowly pitch to simulate sustained gforce. And you can make the transition super smooth so you'd barely notice it. something thats close to impossible in simtools. As soon as I get those damned odrives to work I will post more vids about this.
Also the 3d view of the rig is very handy.

Up and running finally

Now working on getting rid of the noise coming from the ballscrews hitting the metal tubes.
Some felt rings might work for now but I don't think its not a long term solution. We'll see ^^

Yes big issue with me too so I went with the 4 tube solution But I am redesigning again now as i just popped a top off an actuator. Total mechanical failure nothing to do with odrives for once.

Yup i saw that big jump at nordschleife haha. Was wondering how your rig survived those jumps. But yeah its kinda scary to think what would happen if one of the actuators actually broke off somehow.
Btw 100kg test succeeded
Also fixed the ballscrew knocking


Next up
odrv0.axis1.controller.config.trav_upper_lim = 600000

Now working on some cable management and next week I will spraypaint the frame black. And wrap the parts that are going to be touched a lot with carbon foil.

Did some more cosmetic upgrades
Next week its all black hopefully

Nice dude

what odrive motor did u use?