Showroom Prototype 6dof

A year ago or so I made a 2DOF simulator and then I added the loss of traction , and now wanted a new challenge, see the behavior of a 6DOF , but after reading and saw that he had read much spent a lot of money so I I been collecting recycled materials to prototype and the result is much better than expected.

I used three Arduinos unoR3 and three monstermoto shield .
6 wiper motors (not the 6 equal , there are 4 equal , and 2 different ) .
Software XsimCtrl " Prilad " and SimTools .

I want to thank all the community for all the selfless help and especially Prilad who offered me their help and Historiker for caring about my project and help me SimTools settings .

I have to keep working on it because I think it can get better results with a little more angle effects but it'll take a while to restart the project , for now I'm very satisfied with the results .


I hope that with this project is removed the idea that we must gastarle thousands and thousands of dollars to make a 6DOF because these engines are about 12v 50w , so putting them at 12v rather larger , or better 24v I would work well and fairly angle.

Spanish.

Hace un año mas o menos hice un simulador 2dof y despues le añadi la perdida de traccion, y ahora queria un nuevo reto, ver el comportamiento de un 6dof, pero despues de leer y leer veia que habia que gastarse mucho mucho dinero asi que he ido recopilando material reciclado para hacer un prototipo y el resultado es mucho mejor del esperado.

He usado tres arduinos unoR3, y tres monstermoto shield.
6 motores de limpiaparabrisas (no son los 6 iguales, hay 4 iguales, y 2 diferentes).
Software XsimCtrl "Prilad" y SimTools.

Quiero dar las gracias a toda esta comunidad por toda la ayuda desinteresada y en especial a Prilad que me ofreció su ayuda y Historiker por preocuparse por mi proyecto y ayudarme en la configuracion de SimTools.

Tengo que seguir trabajando en él porque creo que se le puede sacar mejores resultados con un poco de mas angulo de efectos pero tardaré un tiempo en retomar el proyecto, por ahora estoy muy satisfecho de los resultados.

Espero que con este proyecto, se quite, la idea de que hay que gastarse miles y miles de euros en hacer un 6dof, porque estos motores son de 12v 50w aproximadamente, asi que poniendolos bastante mas grandes en 12v o mejor 24v creo que funcionaria bien, y con bastante, angulo.

Some pictures of the connection (through a Prilad)

Configuration of simtools (through a Historiker).

Connections.


ARDUINO----------MONSTER

M1PWM-----------PWM1
M1DIR1------------INA1
M1DIR2------------INB1
M2PWM-----------PWM2
M2DIR1------------INA2
M2DIR2-----------INB2



Arduino------------Motomonster

Motor 1
pin 8 --------------D7 Dir1
" 12--------------D8 Dri2
" 9---------------D5 Pwm

Motor 2
Pin 11---------------D4 Dir1
" 13--------------D9 Dir2
" 10--------------D6 Pwm

In action.

In a video I put more aggressive, with more rapid movements and another for the smoother.

Thank

I will measure the power consumption of the set and show you here.

Bravo! Excellent job! I have enjoyed seeing your progress and thank you for letting me be part of your project.

woow, this is really a change of paradigm... i have asking for some time, for a project like this, and the "physic" answer was, not posible because of the amount of weight... keep testing it, lets see how long does the wipers last... (i hope they last a lot)

best regards

fer
(where are you from?=)

With 6x wipers working in unison they should hold the weight easily, this is one of the things I got hammered on with the other forum when I suggested using Jrks and big wormgears who have twice the torque of a wiper, the thing would have worked like a treat. Think the other guys in the other forum must be smoking something, lol.
Thanks for sharing.
How have you got the Axis Assignments set , very interested to see.

The power consumption ranges from 10 to 40 amps but I guess there will be more peaks.

I do not pretend that this is an official 6DOF, it's just a prototype that is doing better than I believed, and I am going to work more on it to get more performance.
I am from Spain.

The work of assigning axes in SimTools is Historiker.

Nice Project! you guys here really takes it to a whole new level, keep up the good work.

Hello merchan-e!
Congrats for your works!

Could you tell us how long exactly is your motor's rod ? (I'm talking of the one which looks about 5 cm)
Thanks

Thank.
I have two holes in the rod engine, 3,5 and 5cm. In the video is in the 3,5 cm.

You have inspired me to get something done on my own project Merchane.

Excellent! thanks for sharing, gives us more to think about.

Wow, this is really nice work and it sort of validates my ideas about using wiper motors.

Yes I am impressed at this setup. Wipers will do ok for a while, the may actually even last. thrash them till they break!

Sorry to pollute your topic @merchan-e but your work got me thinking about removing actuators altogether and inverting the platform. I found some research into the matter here: http://www.iri.upc.edu/people/ros/CableDriven/



There are some issues with cable slack as you can see in this video:


But they fixed that:


Inverted cable driven Stewart Platforms removes some weight from platform and the power needed from the motors will be less! Using winches instead of wiper motors in such a system looks like the perfect solution as they already have the proper... well... winches

What do you think?

It's much mess, but you have much inclination angle. Good thinking.