6DOF platform with small DC motors

here is my 6 dof project ,I have finished finally this week.first im going to
thanks @Historiker ,@eaorobbie ,@RufusDufus ,@RaceRay and many others
in the community.
the electronics ive used are 2 Arduino uno with SMC3 and 3 TB6612FNG dual
driver from Pololu and six chip single turn pots and 6 motors are small dc 12 v and 10 RPM
and dimentions: 300 mm * 300 mm * 190 mm







motors lever arms are 25 mm and the rods are 150 mm
so base on the platform design It moves,
Roll = ±20
Pitch= ±20
Yaw= ±35
Heave= 45 mm
Sway= 60 mm
Surge= 60 mm
and a short video here:

very welcome to any questions and ideas
regards
Hooshang

Great work!!

thank you @Pit you are also part of this

Where is the COG (Center Of Gravity) point located? Can you adjust it to certain X,Y,Z position?

From the video it looks like its located right on the surface of the top platform. Shouldn't it be higher? Near the "driver's" chest perhaps?

Great work btw...

if the driver is a hamster then yes. Its a scale model from what I can see.

The hamster would get motion sickness in that case...

thank you @tronicgr for posting and great to have you here with
lots of experience and your inspiral works you have done on 6dof.
yes, the COG should be higher of course but could you give advice
how to adjust it
thank you friend
Hooshang

I'm not sure how you can adjust it with your setup. Does it even support this?

Anyway, you can see here what happens to the motion for Pitch/Roll when you adjust the COG:





PS... why the "dislike? here??? LOL

@tronicgr
this is about some dimentions and parameters and we are working on a DIY project
so it does support any possiblity
I just tried to copy something like this.do you think if iam close?.

thank you friend & regards
Hooshang

hello mates
after a little changes on motors arm setup here is the first test with FSX,it can be better and smoother next time for sure

welcome to any idea friends
regards
Hooshang

just look at this
first test with race 07 ,took a few minutes on Simtools setting
and just more than expected

regards
Hooshang

Its wonderful Hooshang. It will make your hamster happy

hi
this is the first time I confront with the YAW and I just realize at special
point(direction)in the game the YAW's value change to minus or vice versa in tuning center, and this suddenly resault an unwanted movement ,so how can I control this?
thank you freinds
regards
Hooshnag

Hi hooshang , Nice working model you made! May I point out however that your “hamster” would indeed get motion sickness when driving the formula car because the sway motion is reversed from what it should be. You just need to invert the sway axis with simtools though. If your sway is correct then you need to reduce the roll axis some. At least it appears that way to me. Sway is the opposite direction of roll.

On your yaw issue this has been discussed here before. All axis will “flip” around with FSX at some point because the output is the same as you would see on an instrument panel. As far as I know a solution has not been offered here yet. But you don’t need to use direct output of yaw anyway since you are not doing a 360 degree sim. You really just need to use the yaw acceleration rate. You can calculate this yourself by taking the previous yaw reading and subtracting the latest reading. This will give you the rate of change. You should be able to do this satisfactorily on your microcontroller if you are using a high enough output resolution in simtools. If the timing does not stay perfectly consistent from reading to reading though, you may have to take an average of a few readings instead which may cause a slight delay in its output. You will also need to test in code for the point at witch the flip occurs so you can make the proper adjustments to your math so the acceleration rate stays accurate.

Hi @BlazinH
well, about sway I am not realy sure that you are correct,may I ask you watch the video again and tell
me if I should invert the sway !
and about the YAW thank you for information.i just got the point but still not the solution.
think if I did the math and find the rate of change but I don't understand where can I put it or what should I do with this next,
would you please give more information about the role of microcontroller and simtools resolution
and also relations,
many thanks for sharing informations.
regards friend
Hoosnag

the sway looks fine to me

The easiest way to do this is to tune by only using one DOF on each actuator so lets say your testing Sway , in the axis Assignment's only set Sway with a % and "-" null the others then test in game. To lets say increase/speedup the motion you can then just tune the Min Max in the tuning centre , once happy with direction and movements , you can move on and test the rest the same way then once finished mix them all in, this will give you a good base profile then by using the Game Manager you can tune the profile per car, etc and even save them and access them with speed.

thank you @bsft ,@eaorobbie guys for comments,
iam still alittle mix up with YAW ,I got the point and why flip the value at the special direction from @BlazinH ,but
how to solve this and make it like a reasonable movement in the sim rig.
well here is another short video after some effort on tuning values for different axes
and I think get better result

thank you friends
Hooshang

Wauw great work!
I hope to build somthing like that one day.
Do you have some information where to start for me?

@kermit76
thank you freind
first start with 2dof sim and learn the concept of simtools and relation
with hardwares then go for more dof ,
goodluck mate
regards
Hooshang