2 DOF step by step from 0

A couple of months ago I found the X Simulator forum and since then I have read a lot of the good information that is found here, I have noticed how active and quite cooperative this community is.
However, I think I arrive here a little late and I can not wait to read all the information here without having the anxiety of wanting to start building my own simulator immediately.so I've made the decision to start building a 2dof step by step from zero.

For the realization of this project I will have points in favor and points against.
One of the main advantages I have is that I have been an electronics enthusiast for a long time, which is why I have many tools and components that will be very useful in the development of this project as well as having knowledge in microcontroller programming What will make things a little easier for me, coupled with the help of this community, I believe I can bring the project to a successful conclusion.

Among my main disadvantages is my little command of the English language therefore I will have to make much use of the google translator; Another disadvantage is that I have very little mathematical foundation and where it is required, I will go to trial and error and to your help;Another very big disadvantage is that I living in a country in South America like Colombia,then the prices of parts and components and the times of achievement of these will increase by a large percentage which means that the development of the project will be a little slow and finally another disadvantage is my little familiarization with digital platforms and computer tools but I think I can learn this on the fly.

For the development of this project I have no structured plan, I will simply do things according to the need of the moment and try to post as often as possible.

I can say that this is the first time I've done a project of this kind and that I may have adversity but I know that with your help I can finish it and hopefully this will also inspire others as well as everything that is here been inspiration for me not being more ... hands to work.

oh yes, thanks @noorbeast for answering I will take into account all the suggestions that you make me here.
I have noticed that one of the crucial components for the development of this project are the motors, fortunately I have a couple of motors that belonged to a wheelchair and I have seen that they have worked well for other people here. I will start welding a support for these motors. When I have it ready I will publish an image

ready; I have already fixed the motors to the frame.

a lot of people here agree that one of the best options as a feedback sensor are the hall effect sensors for this reason I got 2 of these 90 degrees. I notice that these sensors rotate very smoothly then install them in the simplest way possible with two small pulleys of equal size and a band so no lever will be exerted that could damage the sensors.

As driver of the motors I will use a discrete dual mosfet H bridge, which will be governed by a microcontroller. for now I only have one H-bridge PCB without any welded component then I will solder all the components to be able to continue with the development of the project

I have finished welding all the components in the bridge PCB H. The mosfet used are the irf3205 with the ir2110 drivers. I had already used a circuit like this in a previous project and it worked well, but that was in a very different application in which it was not necessary to change direction abruptly, I hope this works this time although I know this depends in large part of the control algorithm.

I'm new to the forums as well. I'm in the ideas stage right now. Can't wait to see your rig finnished

Hello @ Dak20458 Thank you very much for your interest in seeing my RIG finished, it is always gratifying to know that there are other people who are interested in our work, but I think that to finish my 2 DOF there is still a long way to go. It's a good idea that before you start building yours, you reuse a lot of the good information that you find here and take the ideas that you like the most, so I did.

Yes I have been researching like crazy. I'm starting with a small model design first then going from there.

for now I do not want to have to worry because of a power supply that is shut down until everything else works well, then I will use 2 VRLA batteries of 12V / 40AH / 20hrs connected in series. these will guarantee me a good simulation time without having to recharge.
I have soldered a frame to place the batteries

I have a PCB of a dspic microcontroller trainer which has several peripherals that will be very useful for the interface between the PC and the bridge H. I will proceed to solder all the components to continue with the progress of the project.

I would reconsider this and go with toothed gears instead its probably good for testing but i think you will be forever resetting position like this

hello @sam poole believe me before doing it this way (pulley, band) I tried to do with toothed gears but I did not like how it worked, due to the size of my motors I had to use toothed gears of a lot of diameter for To be able to have a direct and simple coupling without toothed belts then I did not like having to install such a large toothed gears directly on the sensor shaft, furthermore if these toothed gears are not perfectly centered on both the motors axis and on the sensors then a lever is exerted that could damage the sensor, I do not have a 3d printer to design my own toothed gears and locally I got a 6mm thickness that I did not manage to make them work aligned and centered without having to make additional couplings. As mentioned earlier I wanted a way to couple the sensor in the simplest way possible so choose to do it this way and as I expressed earlier I think that by the smoothness of the sensor there will be no loss of position with this mechanism and if any It would be no problem to solve it by software. However, thank you very much for your suggestion.

not sure the diameter of your pulleys but this would be my suggestion they are 40mm diameter lego gears but hopefully you dont need to change i have those hall sensors and they are very low friction so you are probably fine all the best with the build cheers sam

I have soldered the main component of my controller a DSC dspic33fj128mc804 and some components needed to make it work and do some testing.

To shape the fixed structure, I welded the 2 lateral supports. I have placed leveling legs and I have fixed the support of the batteries and the support of the motors with screws

do these motors have a reverse brake mechanism?

I do not know very well what the reverse brake mechanism is. I do not understand what you mean by this. What I can tell you is that these motors have an electromagnetic brake that work at nominal voltage (24Vdc) and also have a lever that turns it to uncouple the gears of the output shaft which is very useful to calibrate feedback sensors .

Ok I presume no modification needed? I am just curious about these motors as they seem a better option from my wiper motors i think i understand a little better now thanks